transform function does not handle invalid target_frame input #1377
Description
Operating System:
Linux shangzh-VMware-Virtual-Platform 6.11.0-19-generic #19~24.04.1-Ubuntu SMP PREEMPT_DYNAMIC Mon Feb 17 11:51:52 UTC 2 x86_64 x86_64 x86_64 GNU/Linux
ROS version or commit hash:
ros2 jazzy
RMW implementation (if applicable):
No response
RMW Configuration (if applicable):
No response
Client library (if applicable):
rviz
'ros2 doctor --report' output
ros2 doc --report
NETWORK CONFIGURATION
inet : 127.0.0.1
inet4 : ['127.0.0.1']
inet6 : ['::1']
netmask : 255.0.0.0
device : lo
flags : 73<LOOPBACK,RUNNING,UP>
mtu : 65536
inet : 192.168.148.137
inet4 : ['192.168.148.137']
ether : 00:0c:29:be:c8:19
inet6 : ['fe80::20c:29ff:febe:c819%ens33']
netmask : 255.255.255.0
device : ens33
flags : 4163<MULTICAST,RUNNING,UP,BROADCAST>
mtu : 1500
broadcast : 192.168.148.255
PACKAGE VERSIONS
rqt_bag_plugins : latest=1.5.4, local=1.5.4
rosbag2 : latest=0.26.6, local=0.26.6
rosbag2_storage_default_plugins : latest=0.26.6, local=0.26.6
rosbag2_storage_mcap : latest=0.26.6, local=0.26.6
rosbag2_compression_zstd : latest=0.26.6, local=0.26.6
mcap_vendor : latest=0.26.6, local=0.26.6
zstd_vendor : latest=0.26.6, local=0.26.6
rviz_visual_testing_framework : latest=14.1.8, local=14.1.7
rviz2 : latest=14.1.8, local=14.1.7
rviz_default_plugins : latest=14.1.8, local=14.1.7
rviz_common : latest=14.1.8, local=14.1.7
rqt_bag : latest=1.5.4, local=1.5.4
rosbag2_examples_py : latest=0.26.6, local=0.26.6
launch_testing_examples : latest=0.19.5, local=0.19.4
ros2bag : latest=0.26.6, local=0.26.6
rosbag2_py : latest=0.26.6, local=0.26.6
rosbag2_transport : latest=0.26.6, local=0.26.6
rosbag2_storage_sqlite3 : latest=0.26.6, local=0.26.6
rosbag2_examples_cpp : latest=0.26.6, local=0.26.6
rosbag2_compression : latest=0.26.6, local=0.26.6
rosbag2_cpp : latest=0.26.6, local=0.26.6
rosbag2_storage : latest=0.26.6, local=0.26.6
image_common : latest=5.1.5, local=5.1.5
camera_info_manager : latest=5.1.5, local=5.1.5
camera_calibration_parsers : latest=5.1.5, local=5.1.5
yaml_cpp_vendor : latest=9.0.1, local=9.0.1
interactive_markers : latest=2.5.4, local=2.5.4
common_interfaces : latest=5.3.6, local=5.3.5
visualization_msgs : latest=5.3.6, local=5.3.5
dummy_robot_bringup : latest=0.33.5, local=0.33.5
robot_state_publisher : latest=3.3.3, local=3.3.3
kdl_parser : latest=2.11.0, local=2.11.0
urdf : latest=2.10.0, local=2.10.0
urdf_parser_plugin : latest=2.10.0, local=2.10.0
turtlesim : latest=1.8.3, local=1.8.3
trajectory_msgs : latest=5.3.6, local=5.3.5
tracetools_test : latest=8.2.3, local=8.2.3
tracetools_launch : latest=8.2.3, local=8.2.3
topic_statistics_demo : latest=0.33.5, local=0.33.5
topic_monitor : latest=0.33.5, local=0.33.5
pendulum_control : latest=0.33.5, local=0.33.5
tlsf_cpp : latest=0.17.1, local=0.17.0
geometry2 : latest=0.36.9, local=0.36.8
tf2_tools : latest=0.36.9, local=0.36.8
tf2_sensor_msgs : latest=0.36.9, local=0.36.8
test_tf2 : latest=N/A, local=0.36.8
tf2_kdl : latest=0.36.9, local=0.36.8
tf2_geometry_msgs : latest=0.36.9, local=0.36.8
examples_tf2_py : latest=0.36.9, local=0.36.8
tf2_ros_py : latest=0.36.9, local=0.36.8
tf2_eigen : latest=0.36.9, local=0.36.8
tf2_bullet : latest=0.36.9, local=0.36.8
tf2_ros : latest=0.36.9, local=0.36.8
tf2_py : latest=0.36.9, local=0.36.8
tf2_msgs : latest=0.36.9, local=0.36.8
tf2_eigen_kdl : latest=0.36.9, local=0.36.8
laser_geometry : latest=2.7.0, local=2.7.0
tf2 : latest=0.36.9, local=0.36.8
test_tracetools : latest=N/A, local=8.2.3
rosbag2_test_common : latest=0.26.6, local=0.26.6
test_msgs : latest=2.0.2, local=2.0.2
test_communication : latest=N/A, local=0.20.2
stereo_msgs : latest=5.3.6, local=5.3.5
std_srvs : latest=5.3.6, local=5.3.5
shape_msgs : latest=5.3.6, local=5.3.5
examples_rclpy_pointcloud_publisher : latest=0.19.5, local=0.19.4
sensor_msgs_py : latest=5.3.6, local=5.3.5
quality_of_service_demo_py : latest=0.33.5, local=0.33.5
quality_of_service_demo_cpp : latest=0.33.5, local=0.33.5
point_cloud_transport_py : latest=4.0.3, local=4.0.3
point_cloud_transport : latest=4.0.3, local=4.0.3
map_msgs : latest=2.4.1, local=2.4.1
intra_process_demo : latest=0.33.5, local=0.33.5
image_transport : latest=5.1.5, local=5.1.5
image_tools : latest=0.33.5, local=0.33.5
dummy_sensors : latest=0.33.5, local=0.33.5
camera_info_manager_py : latest=5.1.5, local=5.1.5
sensor_msgs : latest=5.3.6, local=5.3.5
rqt_plot : latest=1.4.2, local=1.4.2
ros2cli_common_extensions : latest=0.3.0, local=0.3.0
ros2doctor : latest=0.32.3, local=0.32.2
dummy_map_server : latest=0.33.5, local=0.33.5
nav_msgs : latest=5.3.6, local=5.3.5
message_filters : latest=4.11.5, local=4.11.4
logging_demo : latest=0.33.5, local=0.33.5
lifecycle_py : latest=0.33.5, local=0.33.5
lifecycle : latest=0.33.5, local=0.33.5
diagnostic_msgs : latest=5.3.6, local=5.3.5
geometry_msgs : latest=5.3.6, local=5.3.5
examples_rclpy_minimal_subscriber : latest=0.19.5, local=0.19.4
examples_rclpy_minimal_service : latest=0.19.5, local=0.19.4
examples_rclpy_minimal_publisher : latest=0.19.5, local=0.19.4
examples_rclpy_minimal_client : latest=0.19.5, local=0.19.4
examples_rclpy_executors : latest=0.19.5, local=0.19.4
examples_rclcpp_wait_set : latest=0.19.5, local=0.19.4
examples_rclcpp_multithreaded_executor : latest=0.19.5, local=0.19.4
examples_rclcpp_minimal_subscriber : latest=0.19.5, local=0.19.4
examples_rclcpp_minimal_publisher : latest=0.19.5, local=0.19.4
examples_rclcpp_minimal_composition : latest=0.19.5, local=0.19.4
examples_rclcpp_cbg_executor : latest=0.19.5, local=0.19.4
demo_nodes_py : latest=0.33.5, local=0.33.5
demo_nodes_cpp_native : latest=0.33.5, local=0.33.5
demo_nodes_cpp : latest=0.33.5, local=0.33.5
composition : latest=0.33.5, local=0.33.5
actionlib_msgs : latest=5.3.6, local=5.3.5
std_msgs : latest=5.3.6, local=5.3.5
rqt : latest=1.6.0, local=1.6.0
rqt_gui_cpp : latest=1.6.0, local=1.6.0
ros2lifecycle_test_fixtures : latest=0.32.3, local=0.32.2
ros2component : latest=0.32.3, local=0.32.2
rclcpp_lifecycle : latest=28.1.8, local=28.1.6
action_tutorials_cpp : latest=0.33.5, local=0.33.5
rclcpp_components : latest=28.1.8, local=28.1.6
examples_rclcpp_minimal_action_server : latest=0.19.5, local=0.19.4
examples_rclcpp_minimal_action_client : latest=0.19.5, local=0.19.4
rclcpp_action : latest=28.1.8, local=28.1.6
examples_rclcpp_minimal_timer : latest=0.19.5, local=0.19.4
examples_rclcpp_minimal_service : latest=0.19.5, local=0.19.4
examples_rclcpp_minimal_client : latest=0.19.5, local=0.19.4
examples_rclcpp_async_client : latest=0.19.5, local=0.19.4
rclcpp : latest=28.1.8, local=28.1.6
libstatistics_collector : latest=1.7.4, local=1.7.4
statistics_msgs : latest=2.0.2, local=2.0.2
sros2_cmake : latest=0.13.3, local=0.13.2
sros2 : latest=0.13.3, local=0.13.2
rqt_topic : latest=1.7.3, local=1.7.3
rqt_srv : latest=1.2.2, local=1.2.2
rqt_shell : latest=1.2.2, local=1.2.2
rqt_service_caller : latest=1.2.1, local=1.2.1
rqt_reconfigure : latest=1.6.2, local=1.6.2
rqt_py_console : latest=1.2.2, local=1.2.2
rqt_publisher : latest=1.7.2, local=1.7.2
rqt_action : latest=2.2.0, local=2.2.0
rqt_msg : latest=1.5.1, local=1.5.1
rqt_console : latest=2.2.1, local=2.2.1
rqt_py_common : latest=1.6.0, local=1.6.0
rqt_graph : latest=1.5.4, local=1.5.4
rqt_gui_py : latest=1.6.0, local=1.6.0
rqt_gui : latest=1.6.0, local=1.6.0
ros_testing : latest=0.6.0, local=0.6.0
ros2trace : latest=8.2.3, local=8.2.3
ros2topic : latest=0.32.3, local=0.32.2
ros2test : latest=0.6.0, local=0.6.0
ros2param : latest=0.32.3, local=0.32.2
ros2lifecycle : latest=0.32.3, local=0.32.2
ros2service : latest=0.32.3, local=0.32.2
ros2run : latest=0.32.3, local=0.32.2
ros2launch : latest=0.26.7, local=0.26.6
ros2pkg : latest=0.32.3, local=0.32.2
ros2node : latest=0.32.3, local=0.32.2
ros2multicast : latest=0.32.3, local=0.32.2
ros2interface : latest=0.32.3, local=0.32.2
ros2action : latest=0.32.3, local=0.32.2
ros2cli : latest=0.32.3, local=0.32.2
launch_testing_ros : latest=0.26.7, local=0.26.6
launch_ros : latest=0.26.7, local=0.26.6
examples_rclpy_minimal_action_server : latest=0.19.5, local=0.19.4
examples_rclpy_minimal_action_client : latest=0.19.5, local=0.19.4
examples_rclpy_guard_conditions : latest=0.19.5, local=0.19.4
action_tutorials_py : latest=0.33.5, local=0.33.5
rclpy : latest=7.1.4, local=7.1.3
rosgraph_msgs : latest=2.0.2, local=2.0.2
rosbag2_interfaces : latest=0.26.6, local=0.26.6
ros2cli_test_interfaces : latest=0.32.3, local=0.32.2
rcl_lifecycle : latest=9.2.5, local=9.2.4
rcl_action : latest=9.2.5, local=9.2.4
rcl : latest=9.2.5, local=9.2.4
rmw_implementation : latest=2.15.5, local=2.15.5
rmw_fastrtps_dynamic_cpp : latest=8.4.2, local=8.4.2
rmw_fastrtps_cpp : latest=8.4.2, local=8.4.2
rmw_fastrtps_shared_cpp : latest=8.4.2, local=8.4.2
rmw_cyclonedds_cpp : latest=2.2.3, local=2.2.3
rmw_connextddsmicro : latest=N/A, local=0.22.1
rmw_connextdds : latest=0.22.1, local=0.22.1
rmw_connextdds_common : latest=0.22.1, local=0.22.1
rmw_dds_common : latest=3.1.0, local=3.1.0
composition_interfaces : latest=2.0.2, local=2.0.2
rcl_interfaces : latest=2.0.2, local=2.0.2
pendulum_msgs : latest=0.33.5, local=0.33.5
lifecycle_msgs : latest=2.0.2, local=2.0.2
example_interfaces : latest=0.12.0, local=0.12.0
action_tutorials_interfaces : latest=0.33.5, local=0.33.5
rosidl_default_runtime : latest=1.6.0, local=1.6.0
rosidl_default_generators : latest=1.6.0, local=1.6.0
action_msgs : latest=2.0.2, local=2.0.2
unique_identifier_msgs : latest=2.5.0, local=2.5.0
type_description_interfaces : latest=2.0.2, local=2.0.2
service_msgs : latest=2.0.2, local=2.0.2
builtin_interfaces : latest=2.0.2, local=2.0.2
rosidl_core_runtime : latest=0.2.0, local=0.2.0
rosidl_core_generators : latest=0.2.0, local=0.2.0
rosidl_generator_py : latest=0.22.0, local=0.22.0
ament_lint_common : latest=0.17.2, local=0.17.1
ament_cmake_uncrustify : latest=0.17.2, local=0.17.1
ament_uncrustify : latest=0.17.2, local=0.17.1
uncrustify_vendor : latest=3.0.1, local=3.0.0
tracetools_trace : latest=8.2.3, local=8.2.3
tracetools_read : latest=8.2.3, local=8.2.3
tracetools : latest=8.2.3, local=8.2.3
tlsf : latest=0.9.0, local=0.9.0
qt_gui_core : latest=2.7.5, local=2.7.5
qt_gui_cpp : latest=2.7.5, local=2.7.5
pluginlib : latest=5.4.2, local=5.4.2
tinyxml2_vendor : latest=0.9.1, local=0.9.1
test_tracetools_launch : latest=N/A, local=8.2.3
test_security : latest=N/A, local=0.20.2
test_ros2trace : latest=N/A, local=8.2.3
test_rmw_implementation : latest=N/A, local=2.15.5
test_rclcpp : latest=N/A, local=0.20.2
test_quality_of_service : latest=N/A, local=0.20.2
test_launch_testing : latest=N/A, local=3.4.3
test_launch_ros : latest=N/A, local=0.26.6
test_interface_files : latest=0.11.0, local=0.11.0
test_cli_remapping : latest=N/A, local=0.20.2
test_cli : latest=N/A, local=0.20.2
qt_gui_app : latest=2.7.5, local=2.7.5
qt_gui : latest=2.7.5, local=2.7.5
tango_icons_vendor : latest=0.3.0, local=0.3.0
sqlite3_vendor : latest=0.26.6, local=0.26.6
rcl_logging_spdlog : latest=3.1.1, local=3.1.1
spdlog_vendor : latest=1.6.1, local=1.6.1
shared_queues_vendor : latest=0.26.6, local=0.26.6
rviz_rendering_tests : latest=14.1.8, local=14.1.7
rviz_rendering : latest=14.1.8, local=14.1.7
rviz_ogre_vendor : latest=14.1.8, local=14.1.7
rviz_assimp_vendor : latest=14.1.8, local=14.1.7
rttest : latest=0.17.1, local=0.17.0
rti_connext_dds_cmake_module : latest=0.22.1, local=0.22.1
lttngpy : latest=8.2.3, local=8.2.3
rpyutils : latest=0.4.1, local=0.4.1
rosidl_typesupport_tests : latest=N/A, local=3.2.2
rosidl_typesupport_introspection_tests : latest=N/A, local=4.6.5
rosidl_typesupport_cpp : latest=3.2.2, local=3.2.2
rosidl_typesupport_introspection_cpp : latest=4.6.5, local=4.6.5
rosidl_typesupport_c : latest=3.2.2, local=3.2.2
rosidl_typesupport_introspection_c : latest=4.6.5, local=4.6.5
rosidl_typesupport_fastrtps_c : latest=3.6.1, local=3.6.1
rosidl_typesupport_fastrtps_cpp : latest=3.6.1, local=3.6.1
rosidl_generator_cpp : latest=4.6.5, local=4.6.5
rosidl_runtime_cpp : latest=4.6.5, local=4.6.5
rosidl_dynamic_typesupport_fastrtps : latest=0.1.0, local=0.1.0
rcl_yaml_param_parser : latest=9.2.5, local=9.2.4
rmw : latest=7.3.2, local=7.3.2
rosidl_dynamic_typesupport : latest=0.1.2, local=0.1.2
rosidl_runtime_c : latest=4.6.5, local=4.6.5
rosidl_generator_c : latest=4.6.5, local=4.6.5
rosidl_typesupport_interface : latest=4.6.5, local=4.6.5
rosidl_runtime_py : latest=0.13.1, local=0.13.1
rosidl_generator_dds_idl : latest=0.11.1, local=0.11.1
rosidl_cmake : latest=4.6.5, local=4.6.5
rosidl_pycommon : latest=4.6.5, local=4.6.5
rosidl_generator_type_description : latest=4.6.5, local=4.6.5
rosidl_parser : latest=4.6.5, local=4.6.5
rosidl_generator_tests : latest=N/A, local=4.6.5
rosidl_adapter : latest=4.6.5, local=4.6.5
rosidl_cli : latest=4.6.5, local=4.6.5
rosbag2_tests : latest=0.26.6, local=0.26.6
rosbag2_test_msgdefs : latest=0.26.6, local=0.26.6
ros_environment : latest=4.2.1, local=4.2.1
rmw_implementation_cmake : latest=7.3.2, local=7.3.2
resource_retriever : latest=3.4.3, local=3.4.3
class_loader : latest=2.7.0, local=2.7.0
rcpputils : latest=2.11.2, local=2.11.1
rcl_logging_noop : latest=3.1.1, local=3.1.1
rcl_logging_interface : latest=3.1.1, local=3.1.1
rcutils : latest=6.7.2, local=6.7.2
qt_gui_py_common : latest=2.7.5, local=2.7.5
qt_dotgraph : latest=2.7.5, local=2.7.5
python_qt_binding : latest=2.2.1, local=2.2.1
python_orocos_kdl_vendor : latest=0.5.1, local=0.5.1
launch_testing_ament_cmake : latest=3.4.4, local=3.4.3
python_cmake_module : latest=0.11.1, local=0.11.1
pybind11_vendor : latest=3.1.3, local=3.1.2
performance_test_fixture : latest=0.2.1, local=0.2.1
launch_pytest : latest=3.4.4, local=3.4.3
launch_testing : latest=3.4.4, local=3.4.3
launch_yaml : latest=3.4.4, local=3.4.3
launch_xml : latest=3.4.4, local=3.4.3
launch : latest=3.4.4, local=3.4.3
osrf_pycommon : latest=2.1.5, local=2.1.5
orocos_kdl_vendor : latest=0.5.1, local=0.5.1
mimick_vendor : latest=0.6.2, local=0.6.2
libyaml_vendor : latest=1.6.3, local=1.6.3
liblz4_vendor : latest=0.26.6, local=0.26.6
libcurl_vendor : latest=3.4.3, local=3.4.3
keyboard_handler : latest=0.3.1, local=0.3.1
gz_math_vendor : latest=0.0.8, local=0.0.8
gz_utils_vendor : latest=0.0.5, local=0.0.5
gz_cmake_vendor : latest=0.0.9, local=0.0.9
ament_cmake_ros : latest=0.12.0, local=0.12.0
ament_cmake_auto : latest=2.5.3, local=2.5.3
ament_cmake_gmock : latest=2.5.3, local=2.5.3
ament_cmake_gtest : latest=2.5.3, local=2.5.3
ament_cmake_google_benchmark : latest=2.5.3, local=2.5.3
fastrtps_cmake_module : latest=3.6.1, local=3.6.1
eigen3_cmake_module : latest=0.3.0, local=0.3.0
domain_coordinator : latest=0.12.0, local=0.12.0
console_bridge_vendor : latest=1.7.1, local=1.7.1
ament_cmake_xmllint : latest=0.17.2, local=0.17.1
ament_xmllint : latest=0.17.2, local=0.17.1
ament_cmake_pyflakes : latest=0.17.2, local=0.17.1
ament_pyflakes : latest=0.17.2, local=0.17.1
ament_cmake_pycodestyle : latest=0.17.2, local=0.17.1
ament_pycodestyle : latest=0.17.2, local=0.17.1
ament_cmake_pep257 : latest=0.17.2, local=0.17.1
ament_pep257 : latest=0.17.2, local=0.17.1
ament_cmake_pclint : latest=0.17.2, local=0.17.1
ament_pclint : latest=0.17.2, local=0.17.1
ament_lint_auto : latest=0.17.2, local=0.17.1
ament_cmake : latest=2.5.3, local=2.5.3
ament_cmake_version : latest=2.5.3, local=2.5.3
ament_cmake_vendor_package : latest=2.5.3, local=2.5.3
ament_cmake_pytest : latest=2.5.3, local=2.5.3
ament_cmake_mypy : latest=0.17.2, local=0.17.1
ament_cmake_lint_cmake : latest=0.17.2, local=0.17.1
ament_cmake_flake8 : latest=0.17.2, local=0.17.1
ament_cmake_cpplint : latest=0.17.2, local=0.17.1
ament_cmake_cppcheck : latest=0.17.2, local=0.17.1
ament_cmake_copyright : latest=0.17.2, local=0.17.1
ament_cmake_clang_tidy : latest=0.17.2, local=0.17.1
ament_cmake_clang_format : latest=0.17.2, local=0.17.1
ament_cmake_test : latest=2.5.3, local=2.5.3
ament_cmake_target_dependencies : latest=2.5.3, local=2.5.3
ament_cmake_python : latest=2.5.3, local=2.5.3
ament_cmake_export_dependencies : latest=2.5.3, local=2.5.3
ament_cmake_libraries : latest=2.5.3, local=2.5.3
ament_cmake_include_directories : latest=2.5.3, local=2.5.3
ament_cmake_gen_version_h : latest=2.5.3, local=2.5.3
ament_cmake_export_targets : latest=2.5.3, local=2.5.3
ament_cmake_export_link_flags : latest=2.5.3, local=2.5.3
ament_cmake_export_interfaces : latest=2.5.3, local=2.5.3
ament_cmake_export_libraries : latest=2.5.3, local=2.5.3
ament_cmake_export_include_directories : latest=2.5.3, local=2.5.3
ament_cmake_export_definitions : latest=2.5.3, local=2.5.3
ament_cmake_core : latest=2.5.3, local=2.5.3
ament_package : latest=0.16.3, local=0.16.3
ament_mypy : latest=0.17.2, local=0.17.1
ament_lint_cmake : latest=0.17.2, local=0.17.1
ament_flake8 : latest=0.17.2, local=0.17.1
ament_copyright : latest=0.17.2, local=0.17.1
ament_lint : latest=0.17.2, local=0.17.1
ament_index_python : latest=1.8.1, local=1.8.1
ament_index_cpp : latest=1.8.1, local=1.8.1
ament_cpplint : latest=0.17.2, local=0.17.1
ament_cppcheck : latest=0.17.2, local=0.17.1
ament_clang_tidy : latest=0.17.2, local=0.17.1
ament_clang_format : latest=0.17.2, local=0.17.1
PLATFORM INFORMATION
system : Linux
platform info : Linux-6.11.0-19-generic-x86_64-with-glibc2.39
release : 6.11.0-19-generic
processor : x86_64
QOS COMPATIBILITY LIST
compatibility status : No publisher/subscriber pairs found
RMW MIDDLEWARE
middleware name : rmw_fastrtps_cpp
ROS 2 INFORMATION
distribution name : jazzy
distribution type : ros2
distribution status : active
release platforms : {'debian': ['bookworm'], 'rhel': ['9'], 'ubuntu': ['noble']}
TOPIC LIST
topic : none
publisher count : 0
subscriber count : 0
Steps to reproduce issue
Environment
OS Version: Ubuntu 24.04
rviz version: ros2 jazzy
Compiler name and version number: Ubuntu clang version 18.1.3
Source or binary build?
source build
build options: --mixin asan-gcc
Description:
The IdentityFrameTransformer::transform function does not perform validity checks on the target_frame parameter. When an invalid target_frame (e.g., an empty string) is passed in, the function does not throw the expected exception but instead proceeds and returns the original input pose_in. This behavior does not match the expected behavior in the unit test, leading to a test failure.
Test Case
#include <gtest/gtest.h>
#include <gmock/gmock.h>
#include <memory>
#include <string>
#include "../../src/rviz_common/transformation/identity_frame_transformer.hpp"
#include "transformation_test_helpers.hpp"
using namespace testing; // NOLINT
class IdentityTransformerFixture : public testing::Test
{
public:
IdentityTransformerFixture()
{
transformer_ = std::make_shared<rviz_common::transformation::IdentityFrameTransformer>();
}
std::shared_ptr<rviz_common::transformation::IdentityFrameTransformer> transformer_;
};
TEST_F(IdentityTransformerFixture, transform_throws_exception_on_invalid_target_frame)
{
auto pose_stamped = createRosPoseStamped(
createRosHeader(1, 3, "test"), createRosPoint(0, 3, 6), createRosQuaternion(0, 1, 0, 0));
EXPECT_THROW(transformer_->transform(pose_stamped, ""), std::invalid_argument);
}Output
Running main() from gmock_main.cc
[==========] Running 1 test from 1 test suite.
[----------] Global test environment set-up.
[----------] 1 test from IdentityTransformerFixture
[ RUN ] IdentityTransformerFixture.transform_throws_exception_on_invalid_target_frame
/home/shangzh/ros2_jazzy/src/ros2/rviz/rviz_common/test/transformation/identity_frame_transformer_test.cpp:24: Failure
Expected: transformer_->transform(pose_stamped, "") throws an exception of type std::invalid_argument.
Actual: it throws nothing.
[ FAILED ] IdentityTransformerFixture.transform_throws_exception_on_invalid_target_frame (0 ms)
[----------] 1 test from IdentityTransformerFixture (0 ms total)
[----------] Global test environment tear-down
[==========] 1 test from 1 test suite ran. (0 ms total)
[ PASSED ] 0 tests.
[ FAILED ] 1 test, listed below:
[ FAILED ] IdentityTransformerFixture.transform_throws_exception_on_invalid_target_frame
1 FAILED TEST
Expected behavior
When the transform function receives an invalid target_frame (e.g., an empty string), it should throw a std::invalid_argument exception indicating that the input parameter is invalid, ensuring the function correctly handles invalid inputs.
Actual behavior
In the current implementation, the transform function does not check the validity of target_frame. When an empty string or other invalid values are passed in, the function does not throw any exceptions but instead directly returns the passed pose_in
Additional information
Suggested Fixes:
Add input validity check: Include an input validity check for the target_frame parameter in the transform function. If target_frame is an empty string or another invalid value, a std::invalid_argument exception should be thrown.
if (target_frame.empty()) {
throw std::invalid_argument("Target frame cannot be empty");
}