updated test config

tests/devel_tests/test_hunter_base.cpp

@@ -0,0 +1,54 @@
+#include <unistd.h>
+
+#include <chrono>
+#include <cmath>
+#include <functional>
+#include <iostream>
+#include <mutex>
+#include <string>
+#include <thread>
+
+#include "wrp_sdk/platforms/hunter/hunter_base.hpp"
+
+#define TEST_WITHOUT_SERIAL_HARDWARE
+
+using namespace westonrobot;
+
+int main(int argc, char **argv) {
+  std::string device_name;
+  int32_t baud_rate = 0;
+
+  if (argc == 2) {
+    device_name = {argv[1]};
+    std::cout << "Specified CAN: " << device_name << std::endl;
+  } else {
+    std::cout << "Usage: app_scout_demo <interface>" << std::endl
+              << "Example 1: ./app_scout_demo can0" << std::endl;
+    return -1;
+  }
+
+  HunterBase scout;
+  scout.Connect(device_name);
+
+  int count = 0;
+  while (true) {
+    std::cout << "Motor: 0.0, 0.0," << std::endl;
+    scout.SetMotionCommand(0.0, 0.0);
+
+    auto state = scout.GetHunterState();
+    std::cout << "-------------------------------" << std::endl;
+    std::cout << "count: " << count << std::endl;
+    std::cout << "control mode: " << static_cast<int>(state.control_mode)
+              << " , base state: " << static_cast<int>(state.base_state)
+              << std::endl;
+    std::cout << "battery voltage: " << state.battery_voltage << std::endl;
+    std::cout << "velocity (linear, angular): " << state.linear_velocity << ", "
+              << state.steering_angle << std::endl;
+    std::cout << "-------------------------------" << std::endl;
+
+    sleep(1);
+    ++count;
+  }
+
+  return 0;
+}