text: /*
   * Copyright (C) 2012-2014 Open Source Robotics Foundation
   *
   * 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 "ServerFixture.hh"
  
  using namespace gazebo;
  class FactoryStressTest : public ServerFixture
  {
  };
  
  /////////////////////////////////////////////////
  void OnWorldStats(ConstWorldStatisticsPtr &/*_msg*/)
  {
  }
  
  /////////////////////////////////////////////////
  TEST_F(FactoryStressTest, Bookshelf)
  {
    Load("worlds/empty.world");
  
    gazebo::transport::SubscriberPtr sub =
      this->node->Subscribe("~/world_stats", &OnWorldStats);
  
    for (int i = 0; i < 100; ++i)
    {
      SpawnModel("model://bookshelf");
      gazebo::common::Time::MSleep(500);
      RemoveModel("bookshelf");
    }
  
    sub.reset();
  }
  
  /////////////////////////////////////////////////
  int main(int argc, char **argv)
  {
    ::testing::InitGoogleTest(&argc, argv);
    return RUN_ALL_TESTS();
  }
  