text: ///////////////////////////////////////////////////////////////////////////////
  // Copyright (C) 2014, PAL Robotics S.L.
  //
  // 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 PAL Robotics, Inc. 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 THE COPYRIGHT OWNER OR CONTRIBUTORS 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.
  //////////////////////////////////////////////////////////////////////////////
  
  /// \author Bence Magyar
  /// \author Masaru Morita
  
  #include "../common/include/test_common.h"
  #include <tf/transform_listener.h>
  
  // TEST CASES
  TEST_F(AckermannSteeringControllerTest, testNoOdomFrame)
  {
    // wait for ROS
    while(!isControllerAlive())
    {
      ros::Duration(0.1).sleep();
    }
    // set up tf listener
    tf::TransformListener listener;
    ros::Duration(2.0).sleep();
    // check the odom frame doesn't exist
    EXPECT_FALSE(listener.frameExists("odom"));
  }
  
  int main(int argc, char** argv)
  {
    testing::InitGoogleTest(&argc, argv);
    ros::init(argc, argv, "ackermann_steering_controller_odom_tf_test");
  
    ros::AsyncSpinner spinner(1);
    spinner.start();
    int ret = RUN_ALL_TESTS();
    spinner.stop();
    ros::shutdown();
    return ret;
  }
  