text: /*
  *
  * Copyright (c) 2013, BMW Car IT GmbH
  * All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions are met:
  *     * Redistributions of source code must retain the above copyright
  *       notice, this list of conditions and the following disclaimer.
  *     * Redistributions in binary form must reproduce the above copyright
  *       notice, this list of conditions and the following disclaimer in the
  *       documentation and/or other materials provided with the distribution.
  *     * Neither the name of the <organization> nor the
  *       names of its contributors may be used to endorse or promote products
  *       derived from this software without specific prior written permission.
  *
  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
  * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
  * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
  * DISCLAIMED. IN NO EVENT SHALL <COPYRIGHT HOLDER> BE LIABLE FOR ANY
  * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
  * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
  * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
  * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
  * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  *
  */
  
  #include <ros/ros.h>
  #include <gtest/gtest.h>
  #include <boost/thread/thread.hpp>
  #include "chatter_msgs/Chatter.h"
  #include <stdio.h>
  
  void receiveChatterCallback(const chatter_msgs::Chatter::ConstPtr& msg) {
    std::cerr << "Received message!" << std::endl;
    EXPECT_TRUE(msg->message == "Hello World");
  }
  
  TEST(chatter_sender, send_test) {
    ros::NodeHandle nh;
    ros::Subscriber sub = nh.subscribe("Chatter", 1000, receiveChatterCallback);
    std::cerr << "Subscribed to topic Chatter!" << std::endl;
  
    std::cerr << "Waiting for Publishers ";
    while(sub.getNumPublishers() < 1){
      boost::this_thread::sleep(boost::posix_time::milliseconds(10));
      std::cerr << ".";
    }
    std::cerr << " done" << std::endl;
  
    // Give the sender some time to send message
    boost::this_thread::sleep(boost::posix_time::milliseconds(100));
  }
  
  /*
  * implementation of spinner thread
  */
  inline void rosTestSpinner() {
    ROS_INFO("START SPINNING");
    ros::spin();
    ROS_INFO("STOP SPINNING");
  }
  
  int main(int argc, char **argv) {
    ros::init(argc, argv, "chatter_sender_test");
    ros::NodeHandle nh;
    //ros::start();
  
    boost::thread rosThread(&rosTestSpinner);
  
    ROS_INFO("START TESTING");
    ::testing::InitGoogleTest(&argc, argv);
    int result = RUN_ALL_TESTS();
    ros::shutdown();
    ROS_INFO("STOP TESTING");
  
    rosThread.join();
  
    return result;
  }
  