Unit tests for the new odometry implementation in diff_drive_controller #2099
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Codecov Report✅ All modified and coverable lines are covered by tests. Additional details and impacted files@@ Coverage Diff @@
## master #2099 +/- ##
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+ Coverage 84.79% 84.85% +0.06%
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Files 151 152 +1
Lines 14607 14630 +23
Branches 1266 1266
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+ Hits 12386 12415 +29
+ Misses 1763 1757 -6
Partials 458 458
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Amronos
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Jan 7, 2026
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Thanks a lot for the tests! Some minor suggestions.
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| TEST_F(OdometryTest, TestOpenLoopUpdate) | ||
| { | ||
| // Test the new API: try_update_open_loop |
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| // Test the new API: try_update_open_loop |
I don't think this is needed.
| // Directly feed v=2.0, w=0.5, dt=1.0 | ||
| bool result = odometry_.try_update_open_loop(2.0, 0.5, 1.0); | ||
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| EXPECT_TRUE(result); |
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Could you add this to the other test cases also?
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Thanks for the suggestions, I have updated it at other places.
Amronos
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Jan 8, 2026
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Fixes #2033
Description
This PR adds unit tests for the
Odometryclass indiff_drive_controllerto verify the new mathematical logic introduced in #1854.Changes
test/test_odometry.cppcovering:dtCMakeLists.txtto build the new test.Testing
colcon test: 8 tests passed, 0 failures.