added successful test case

ros-controls · Apr 12, 2024 · 6959507 · 6959507
1 parent 78b8a74
commit 6959507
Showing 1 changed file with 6 additions and 0 deletions.
diff --git a/joint_trajectory_controller/test/test_trajectory_controller.cpp b/joint_trajectory_controller/test/test_trajectory_controller.cpp
@@ -1389,6 +1389,12 @@ TEST_P(TrajectoryControllerTestParameterized, invalid_message)
   traj_msg = good_traj_msg;
   traj_msg.header.stamp = rclcpp::Time(1);
   EXPECT_FALSE(traj_controller_->validate_trajectory_msg(traj_msg));
+
+  // End time in the future
+  traj_msg = good_traj_msg;
+  traj_msg.header.stamp = traj_controller_->get_node()->now();
+  traj_msg.points[0].time_from_start = rclcpp::Duration::from_seconds(10);
+  EXPECT_TRUE(traj_controller_->validate_trajectory_msg(traj_msg));
 }
 
 /**