test_roscpp: test_roscpp: name_remapping_with

00001 /*
00002  * Copyright (c) 2008, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
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00029 
00030 /* Author: Josh Faust */
00031 
00032 /*
00033  * Test name remapping.  Assumes the parameter "test" is remapped to "test_remap", and the node name is remapped to "name_remapped"
00034  */
00035 
00036 #include <string>
00037 #include <sstream>
00038 #include <fstream>
00039 
00040 #include <gtest/gtest.h>
00041 
00042 #include <time.h>
00043 #include <stdlib.h>
00044 
00045 #include "ros/ros.h"
00046 #include <ros/param.h>
00047 #include <ros/names.h>
00048 
00049 TEST(roscpp, parameterRemapping)
00050 {
00051   std::string param;
00052   ASSERT_STREQ(ros::names::resolve("test_full").c_str(), "/b/test_full");
00053   ASSERT_TRUE(ros::param::get("test_full", param));
00054   ASSERT_STREQ(ros::names::resolve("/a/test_full").c_str(), "/b/test_full");
00055   ASSERT_TRUE(ros::param::get("/a/test_full", param));
00056 
00057   ASSERT_STREQ(ros::names::resolve("test_local").c_str(), "/a/test_local2");
00058   ASSERT_TRUE(ros::param::get("test_local", param));
00059   ASSERT_STREQ(ros::names::resolve("/a/test_local").c_str(), "/a/test_local2");
00060   ASSERT_TRUE(ros::param::get("/a/test_local", param));
00061 
00062   ASSERT_STREQ(ros::names::resolve("test_relative").c_str(), "/b/test_relative");
00063   ASSERT_TRUE(ros::param::get("test_relative", param));
00064   ASSERT_STREQ(ros::names::resolve("/a/test_relative").c_str(), "/b/test_relative");
00065   ASSERT_TRUE(ros::param::get("/a/test_relative", param));
00066 }
00067 
00068 TEST(roscpp, nodeNameRemapping)
00069 {
00070   std::string node_name = ros::this_node::getName();
00071   ASSERT_STREQ(node_name.c_str(), "/a/name_remapped_with_ns");
00072 }
00073 int
00074 main(int argc, char** argv)
00075 {
00076   testing::InitGoogleTest(&argc, argv);
00077   ros::init( argc, argv, "name_remapping_with_ns" );
00078   ros::NodeHandle nh;
00079 
00080   return RUN_ALL_TESTS();
00081 }
name_remapping_with_ns.cpp
