cartographer_turtlebot: configuration_files

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00001 /*
00002  * Copyright 2016 The Cartographer Authors
00003  *
00004  * Licensed under the Apache License, Version 2.0 (the "License");
00005  * you may not use this file except in compliance with the License.
00006  * You may obtain a copy of the License at
00007  *
00008  *      http://www.apache.org/licenses/LICENSE-2.0
00009  *
00010  * Unless required by applicable law or agreed to in writing, software
00011  * distributed under the License is distributed on an "AS IS" BASIS,
00012  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
00013  * See the License for the specific language governing permissions and
00014  * limitations under the License.
00015  */
00016 
00017 #include <string>
00018 #include <vector>
00019 
00020 #include "cartographer_ros/node_options.h"
00021 #include "gtest/gtest.h"
00022 #include "ros/package.h"
00023 
00024 namespace cartographer_ros {
00025 namespace {
00026 
00027 class ConfigurationFilesTest : public ::testing::TestWithParam<const char*> {};
00028 
00029 TEST_P(ConfigurationFilesTest, ValidateNodeOptions) {
00030   EXPECT_NO_FATAL_FAILURE({
00031     LoadOptions(::ros::package::getPath("cartographer_turtlebot") +
00032                     "/configuration_files",
00033                 GetParam());
00034   });
00035 }
00036 
00037 INSTANTIATE_TEST_CASE_P(ValidateAllNodeOptions, ConfigurationFilesTest,
00038                         ::testing::Values("turtlebot_depth_camera_2d.lua",
00039                                           "turtlebot_depth_camera_3d.lua",
00040                                           "turtlebot_urg_lidar_2d.lua"));
00041 
00042 }  // namespace
00043 }  // namespace cartographer_ros