test_remapping.cpp
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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 }


test_roscpp
Author(s): Morgan Quigley mquigley@cs.stanford.edu, Ken Conley kwc@willowgarage.com
autogenerated on Sat Dec 28 2013 17:36:21