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00001 /* 00002 * Copyright (c) 2009, 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 the 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 00021 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00022 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00023 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00024 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00025 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00026 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 * POSSIBILITY OF SUCH DAMAGE. 00028 */ 00029 00030 #include <ros/ros.h> 00031 #include <gtest/gtest.h> 00032 00033 static int argc_; 00034 static char** argv_; 00035 00036 TEST(RemappingTest, remapping_test) 00037 { 00038 EXPECT_TRUE(argc_ >= 3); 00039 00040 std::string expected_base_ns = argv_[1]; 00041 std::string expected_sub_ns = argv_[2]; 00042 00043 ros::NodeHandle nh; 00044 //ros::NodeHandle pnh("~"); 00045 00046 bool use_local_remap = false; 00047 EXPECT_TRUE(nh.getParam("use_local_remap", use_local_remap)) 00048 << "Param [~use_local_remap] must be defined\n"; 00049 00050 if (use_local_remap) 00051 { 00052 std::string remap_from, remap_to; 00053 EXPECT_TRUE(nh.getParam("remap_from", remap_from)) << "Param [~remap_from] must be defined\n"; 00054 EXPECT_TRUE(nh.getParam("remap_to", remap_to)) << "Param [~remap_to] must be defined\n"; 00055 00056 // Construct the new node by passing in a dictionary of remaps 00057 ros::M_string local_remappings; 00058 local_remappings.insert(std::make_pair(remap_from, remap_to)); 00059 00060 ros::NodeHandle base_nh(nh, "base_namespace", local_remappings); 00061 EXPECT_TRUE(base_nh.getNamespace() == expected_base_ns) 00062 << "Error: \"" << base_nh.getNamespace() << "\" != \"" << expected_base_ns << "\"\n"; 00063 00064 ros::NodeHandle sub_nh(base_nh, "sub_namespace"); 00065 EXPECT_TRUE(sub_nh.getNamespace() == expected_sub_ns) 00066 << "Error: \"" << sub_nh.getNamespace() << "\" != \"" << expected_sub_ns << "\"\n"; 00067 } 00068 else 00069 { 00070 std::cout << "***********************************************************************\n"; 00071 ros::NodeHandle base_nh(nh, "base_namespace"); 00072 EXPECT_EQ(base_nh.getNamespace(), expected_base_ns); 00073 00074 ros::NodeHandle sub_nh(base_nh, "sub_namespace"); 00075 EXPECT_EQ(sub_nh.getNamespace(), expected_sub_ns); 00076 } 00077 } 00078 00079 int main(int argc, char** argv) 00080 { 00081 testing::InitGoogleTest(&argc, argv); 00082 ros::init(argc, argv, "remapping_tester"); 00083 argc_ = argc; 00084 argv_ = argv; 00085 return RUN_ALL_TESTS(); 00086 }