Add additional case for testing pointcloud with no height field.

Signed-off-by: Greg Anderson <[email protected]>

Author: greganderson-vermeer

nav2_collision_monitor/test/collision_monitor_node_test.cpp

@@ -1658,6 +1658,9 @@ TEST_F(Tester, testVelocityPolygonStopGlobalHeight)
   setGlobalHeightParams(POINTCLOUD_NAME, 0.5);
   setVectors({"VelocityPolygon"}, {POINTCLOUD_NAME});
 
+  cm_->set_parameter(
+    rclcpp::Parameter("source_timeout", 2.0));
+
   rclcpp::Time curr_time = cm_->now();
   // Start Collision Monitor node
   cm_->start();
@@ -1685,6 +1688,17 @@ TEST_F(Tester, testVelocityPolygonStopGlobalHeight)
   ASSERT_EQ(action_state_->action_type, STOP);
   ASSERT_EQ(action_state_->polygon_name, "VelocityPolygon");
 
+  // 3. Pointcloud without height field, invalid source.
+  publishPointCloud(2.5, curr_time);
+  publishCmdVel(3.0, 3.0, 3.0);
+  ASSERT_TRUE(waitCmdVel(500ms));
+  ASSERT_NEAR(cmd_vel_out_->linear.y, 0.0, EPSILON);
+  ASSERT_NEAR(cmd_vel_out_->linear.y, 0.0, EPSILON);
+  ASSERT_NEAR(cmd_vel_out_->angular.z, 0.0, EPSILON);
+  ASSERT_TRUE(waitActionState(500ms));
+  ASSERT_EQ(action_state_->action_type, STOP);
+  ASSERT_EQ(action_state_->polygon_name, "invalid source");
+
   // Stop Collision Monitor node
   cm_->stop();
 }