make basic failing test for tf2 wrapper (start of robot utils tests)

nav2_util/src/robot_utils.cpp

@@ -57,7 +57,7 @@ bool getCurrentPose(
     RCLCPP_ERROR(
       logger,
       "Transform timeout with tolerance: %.4f", transform_timeout);
-  } catch (...) {
+  } catch (tf2::TransformException & ex) {
     RCLCPP_ERROR(
       logger, "Failed to transform from %s to %s",
       global_frame.c_str(), robot_frame.c_str());

nav2_util/test/CMakeLists.txt

@@ -32,3 +32,7 @@ target_link_libraries(test_lifecycle_cli_node ${library_name})
 ament_add_gtest(test_geometry_utils test_geometry_utils.cpp)
 ament_target_dependencies(test_geometry_utils geometry_msgs)
 target_link_libraries(test_geometry_utils ${library_name})
+
+ament_add_gtest(test_robot_utils test_robot_utils.cpp)
+ament_target_dependencies(test_robot_utils geometry_msgs)
+target_link_libraries(test_robot_utils ${library_name})

nav2_util/test/test_robot_utils.cpp

@@ -0,0 +1,32 @@
+// Copyright (c) 2020 Samsung Research
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <memory>
+#include "rclcpp/rclcpp.hpp"
+#include "nav2_util/robot_utils.hpp"
+#include "tf2_ros/transform_listener.h"
+#include "tf2_ros/transform_broadcaster.h"
+#include "geometry_msgs/msg/pose_stamped.hpp"
+#include "gtest/gtest.h"
+#include "nav2_util/node_thread.hpp"
+#include "tf2_ros/create_timer_ros.h"
+
+TEST(RobotUtils, LookupExceptionError)
+{
+  rclcpp::init(0, nullptr);
+  auto node = std::make_shared<rclcpp::Node>("name", rclcpp::NodeOptions());
+  geometry_msgs::msg::PoseStamped global_pose;
+  tf2_ros::Buffer tf(node->get_clock());
+  ASSERT_FALSE(nav2_util::getCurrentPose(global_pose, tf, "map", "base_link", 0.1));
+}