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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 }