functional_programming_tests

class MinimalPublisher : public rclcpp::Node
// ... class definition
int main(int argc, char * argv[])
{
  rclcpp::init(argc, argv);
  rclcpp::spin(std::make_shared<MinimalPublisher>());
  rclcpp::shutdown();
  return 0;
}

class PathGenerator {
public:
// ... some code
    std::optional<Path> generate_global_path(Pos const& start, Pos const& goal);
// ... more code
};

class TaskPlanningFixture : public testing::Test {
public:
	// Adapted from minimal_integration_test
	TaskPlanningFixture() : node_(std::make_shared<rclcpp::Node>("bad_test_publisher")), executor_(std::make_shared<rclcpp::executors::SingleThreadedExecutor>()) {
        // Create ROS2 publisher for the costmap
		costmap_publisher_ = node_->create_publisher<std_msgs::msg::UInt8MultiArray>("test/costmap",1);

        // Publish the costmap every 100 ms
		timer_ = node_->create_wall_timer(100ms, std::bind(&TaskPlanningFixture::publish_costmap, this));
	}

	void SetUp() override {
		executor_->add_node(node_);
		executor_thread_ = std::thread([this]() { executor_->spin(); });
	}

        // Cleanup actions that could throw an exception
	void TearDown() override {
		executor_->cancel();
		executor_thread_.join();
	}
// ... more code