From fe8c972ae4fb888a262e1aaf2b4a27022faf6b6d Mon Sep 17 00:00:00 2001 From: William Lew Date: Fri, 17 Dec 2021 10:50:28 -0800 Subject: [PATCH] Fixed IMU ros publisher test Signed-off-by: William Lew --- ros_ign_bridge/test/test_utils.hpp | 13 ++++++++----- 1 file changed, 8 insertions(+), 5 deletions(-) diff --git a/ros_ign_bridge/test/test_utils.hpp b/ros_ign_bridge/test/test_utils.hpp index aa3324830..827d905e5 100644 --- a/ros_ign_bridge/test/test_utils.hpp +++ b/ros_ign_bridge/test/test_utils.hpp @@ -824,15 +824,18 @@ void createTestMsg(sensor_msgs::msg::Imu & _msg) /// \param[in] _msg The message to compare. void compareTestMsg(const std::shared_ptr & _msg) { + sensor_msgs::msg::Imu expected_msg; + createTestMsg(expected_msg); + compareTestMsg(_msg->header); compareTestMsg(_msg->orientation); compareTestMsg(std::make_shared(_msg->angular_velocity)); compareTestMsg(std::make_shared(_msg->linear_acceleration)); for (auto i = 0; i < 9; ++i) { - EXPECT_FLOAT_EQ(i + 1, _msg->orientation_covariance[i]); - EXPECT_FLOAT_EQ(i + 1, _msg->angular_velocity_covariance[i]); - EXPECT_FLOAT_EQ(i + 1, _msg->linear_acceleration_covariance[i]); + EXPECT_FLOAT_EQ(expected_msg.orientation_covariance[i], _msg->orientation_covariance[i]); + EXPECT_FLOAT_EQ(expected_msg.angular_velocity_covariance[i], _msg->angular_velocity_covariance[i]); + EXPECT_FLOAT_EQ(expected_msg.linear_acceleration_covariance[i], _msg->linear_acceleration_covariance[i]); } } @@ -905,8 +908,8 @@ void compareTestMsg(const std::shared_ptr & _msg) EXPECT_FLOAT_EQ(expected_msg.angle_min, _msg->angle_min); EXPECT_FLOAT_EQ(expected_msg.angle_max, _msg->angle_max); EXPECT_FLOAT_EQ(expected_msg.angle_increment, _msg->angle_increment); - EXPECT_FLOAT_EQ(0.00025000001, _msg->time_increment); - EXPECT_FLOAT_EQ(0, _msg->scan_time); + EXPECT_FLOAT_EQ(expected_msg.time_increment, _msg->time_increment); + EXPECT_FLOAT_EQ(expected_msg.scan_time, _msg->scan_time); EXPECT_FLOAT_EQ(expected_msg.range_min, _msg->range_min); EXPECT_FLOAT_EQ(expected_msg.range_max, _msg->range_max);