Fix GPSFix sync unit test

swri-robotics · Nov 21, 2019 · 0ca158c · 0ca158c
1 parent 1dbc6e3
commit 0ca158c
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Showing 3 changed files with 10 additions and 2 deletions.
diff --git a/novatel_gps_driver/test/bestpos-bestvel-psrdop2-sync.pcap b/novatel_gps_driver/test/bestpos-bestvel-psrdop2-sync.pcap
diff --git a/novatel_gps_driver/test/gpgga-gprmc-bestpos.pcap b/novatel_gps_driver/test/gpgga-gprmc-bestpos.pcap
diff --git a/novatel_gps_driver/test/novatel_gps_tests.cpp b/novatel_gps_driver/test/novatel_gps_tests.cpp
@@ -48,9 +48,11 @@ class NovatelGpsTestSuite : public ::testing::Test, public rclcpp::Node
 TEST_F(NovatelGpsTestSuite, testGpsFixParsing)
 {
   novatel_gps_driver::NovatelGps gps(*this);
+  gps.wait_for_sync_ = true;
 
   std::string path = ament_index_cpp::get_package_prefix("novatel_gps_driver");
-  ASSERT_TRUE(gps.Connect(path + "/test/gpgga-gprmc-bestpos.pcap", novatel_gps_driver::NovatelGps::PCAP));
+  ASSERT_TRUE(gps.Connect(path + "/test/bestpos-bestvel-psrdop2-sync.pcap",
+      novatel_gps_driver::NovatelGps::PCAP));
 
   std::vector<gps_msgs::msg::GPSFix::UniquePtr> fix_messages;
 
@@ -64,7 +66,13 @@ TEST_F(NovatelGpsTestSuite, testGpsFixParsing)
         std::back_inserter(fix_messages));
   }
 
-  ASSERT_EQ(40, fix_messages.size());
+  ASSERT_EQ(22, fix_messages.size());
+
+  EXPECT_DOUBLE_EQ(fix_messages.front()->latitude, 29.443917634921949);
+  EXPECT_DOUBLE_EQ(fix_messages.front()->longitude, -98.614755510637181);
+  EXPECT_DOUBLE_EQ(fix_messages.front()->speed, 0.041456376659522925);
+  EXPECT_DOUBLE_EQ(fix_messages.front()->track, 135.51629763185957);
+  EXPECT_DOUBLE_EQ(fix_messages.front()->gdop, 1.9980000257492065);
 }
 
 TEST_F(NovatelGpsTestSuite, testCorrImuDataParsing)