fix `ros::TimeNotInitializedException` in unit tests

[rayvburn]

Recently, following exceptions have been observed in unit tests that depend on the main library of the planner (named as the project):

terminate called after throwing an instance of 'ros::TimeNotInitializedException'
  what():  Cannot use ros::Time::now() before the first NodeHandle has been created or ros::start() has been called.  If this is a standalone app or test that just uses ros::Time and does not communicate over ROS, you may also call ros::Time::init()
Aborted (core dumped)

Backtrace, obtained with the call of (from the main workspace directory):

gdb --args devel/.private/hubero_local_planner/lib/hubero_local_planner/test_trajectory

Then, in gdb terminal: run and after the exception, bt:

Program received signal SIGABRT, Aborted.
__GI_raise (sig=sig@entry=6) at ../sysdeps/unix/sysv/linux/raise.c:51
51  ../sysdeps/unix/sysv/linux/raise.c: No such file or directory.
(gdb) bt
#0  __GI_raise (sig=sig@entry=6) at ../sysdeps/unix/sysv/linux/raise.c:51
#1  0x00007ffff64977f1 in __GI_abort () at abort.c:79
#2  0x00007ffff6e8a957 in ?? () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
#3  0x00007ffff6e90ae6 in ?? () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
#4  0x00007ffff6e90b21 in std::terminate() () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
#5  0x00007ffff6e90d54 in __cxa_throw () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
#6  0x00007ffff52563ae in ros::Time::now() () from /opt/ros/melodic/lib/librostime.so
#7  0x00007ffff78cf71b in __static_initialization_and_destruction_0 () from /home/rayvburn/ros_workspace/ws_social_navigation/devel/lib/libbase_local_planner.so
#8  0x00007ffff78cf73e in _GLOBAL__sub_I_simple_trajectory_generator.cpp () from /home/rayvburn/ros_workspace/ws_social_navigation/devel/lib/libbase_local_planner.so
#9  0x00007ffff7de38d3 in call_init (env=0x7fffffff7cc8, argv=0x7fffffff7cb8, argc=1, l=<optimized out>) at dl-init.c:72
#10 _dl_init (main_map=0x7ffff7ffe170, argc=1, argv=0x7fffffff7cb8, env=0x7fffffff7cc8) at dl-init.c:119
#11 0x00007ffff7dd40ca in _dl_start_user () from /lib64/ld-linux-x86-64.so.2
#12 0x0000000000000001 in ?? ()
#13 0x00007fffffff8117 in ?? ()
#14 0x0000000000000000 in ?? ()

(this output is for the non-debug compilation).

Note

Adding following to the test file does not help:

#include <ros/ros.h>

// ...

int main(int argc, char** argv) {
    ros::init(argc, argv, "test"); // this
    ros::start(); // this
    ros::Time::init(); // this

    testing::InitGoogleTest(&argc, argv);
    return RUN_ALL_TESTS();
}

Resources

• https://answers.ros.org/question/74278/cannot-use-rostimenow-before-the-first-nodehandle-has-been-created-or-rosstart-has-been-called/