From 2c6399c6fb6ceba0fd5ebe6f61cb26732bb384a0 Mon Sep 17 00:00:00 2001
From: bpapaspyros <b.papaspyros@gmail.com>
Date: Thu, 5 Dec 2024 15:37:37 +0100
Subject: [PATCH] test: expand tests to check uninitialized node exceptions

---
 source/modulo_controllers/test/test_controller_interface.cpp | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/source/modulo_controllers/test/test_controller_interface.cpp b/source/modulo_controllers/test/test_controller_interface.cpp
index 0ee27fe8..5f3078e1 100644
--- a/source/modulo_controllers/test/test_controller_interface.cpp
+++ b/source/modulo_controllers/test/test_controller_interface.cpp
@@ -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();