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test: expand tests to check uninitialized node exceptions
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bpapaspyros committed Dec 5, 2024
1 parent 324cf35 commit 2c6399c
Showing 1 changed file with 5 additions and 0 deletions.
5 changes: 5 additions & 0 deletions source/modulo_controllers/test/test_controller_interface.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -220,6 +220,11 @@ TYPED_TEST_P(ControllerInterfaceTest, OutputTest) {
}

TYPED_TEST_P(ControllerInterfaceTest, TF) {
EXPECT_THROW(this->interface_->add_tf_broadcaster(), modulo_core::exceptions::CoreException);
EXPECT_THROW(this->interface_->add_static_tf_broadcaster(), modulo_core::exceptions::CoreException);
EXPECT_THROW(this->interface_->add_tf_listener(), modulo_core::exceptions::CoreException);
auto send_early_tf = state_representation::CartesianPose::Random("test", "world");
EXPECT_THROW(this->interface_->send_transform(send_early_tf), modulo_core::exceptions::CoreException);
this->init();
this->interface_->add_tf_broadcaster();
this->interface_->add_static_tf_broadcaster();
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