fix test_ros_robot_localization_listener

Author: mabelzhang

src/ros_robot_localization_listener.cpp

@@ -494,7 +494,8 @@ bool RosRobotLocalizationListener::getState(
 
   // Rotate the covariance
   covariance.block<POSE_SIZE, POSE_SIZE>(POSITION_OFFSET, POSITION_OFFSET) =
-    rot_6d * estimator_state.covariance.eval() * rot_6d.transpose();
+    rot_6d * estimator_state.covariance.block<POSE_SIZE, POSE_SIZE>(
+    POSITION_OFFSET, POSITION_OFFSET) * rot_6d.transpose();
 
   return true;
 }

test/test_ros_robot_localization_listener.cpp

@@ -125,9 +125,13 @@ int main(int argc, char ** argv)
 
   g_listener = std::make_unique<robot_localization::RosRobotLocalizationListener>(node);
 
-  testing::InitGoogleTest(&argc, argv);
+  ::testing::InitGoogleTest(&argc, argv);
 
   int res = RUN_ALL_TESTS();
 
+  rclcpp::shutdown();
+  node = nullptr;
+  g_listener = nullptr;
+
   return res;
 }