test_nodehandles_different_namespaces.cpp

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* test_nodehandles_different_namespaces.cpp
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#include <gtest/gtest.h>
#include <std_msgs/Bool.h>
#include <std_msgs/Byte.h>
#include <std_msgs/Empty.h>
#include <std_msgs/String.h>
#include <std_msgs/Float32.h>
#include <std_msgs/Float64.h>
#include <ros/ros.h>

TEST(DifferentNamespaces, NodeletPrivateNodehandle) {
  ros::NodeHandle nh;
  ros::Duration(2).sleep();
  ros::master::V_TopicInfo master_topics;
  ros::master::getTopics(master_topics);
  bool found_topic = false;

  for (ros::master::V_TopicInfo::iterator it = master_topics.begin() ; it != master_topics.end(); it++) {
    const ros::master::TopicInfo& info = *it;
    if (info.datatype.compare("std_msgs/Bool") == 0) {
      found_topic = true;
      EXPECT_STREQ("/nodelet_namespace/nodehandle_test/private", info.name.c_str());
    }
  }
  EXPECT_TRUE(found_topic);
}

TEST(DifferentNamespaces, NodeletNamespacedNodehandle) {
  ros::NodeHandle nh;
  ros::Duration(2).sleep();
  ros::master::V_TopicInfo master_topics;
  ros::master::getTopics(master_topics);
  bool found_topic = false;

  for (ros::master::V_TopicInfo::iterator it = master_topics.begin() ; it != master_topics.end(); it++) {
    const ros::master::TopicInfo& info = *it;
    if (info.datatype.compare("std_msgs/Byte") == 0) {
      found_topic = true;
      EXPECT_STREQ("/nodelet_namespace/namespaced", info.name.c_str());
    }
  }
  EXPECT_TRUE(found_topic);
}

TEST(DifferentNamespaces, NodeletGlobalNodehandle) {
  ros::NodeHandle nh;
  ros::Duration(2).sleep();
  ros::master::V_TopicInfo master_topics;
  ros::master::getTopics(master_topics);
  bool found_topic = false;

  for (ros::master::V_TopicInfo::iterator it = master_topics.begin() ; it != master_topics.end(); it++) {
    const ros::master::TopicInfo& info = *it;
    if (info.datatype.compare("std_msgs/Time") == 0) {
      found_topic = true;
      EXPECT_STREQ("/global", info.name.c_str());
    }
  }
  EXPECT_TRUE(found_topic);
}

TEST(DifferentNamespaces, NodePrivateNodehandle) {
  ros::NodeHandle nh("~");
  ros::Publisher pub = nh.advertise<std_msgs::Empty>("private", 10);
  ros::master::V_TopicInfo master_topics;
  ros::master::getTopics(master_topics);
  bool found_topic = false;

  for (ros::master::V_TopicInfo::iterator it = master_topics.begin() ; it != master_topics.end(); it++) {
    const ros::master::TopicInfo& info = *it;
    if (info.datatype.compare("std_msgs/Empty") == 0) {
      found_topic = true;
      EXPECT_STREQ("/test_namespace/test_nodehandles/private", info.name.c_str());
    }
  }
  EXPECT_TRUE(found_topic);
}

TEST(DifferentNamespaces, NodeNamespacedNodehandle) {
  ros::NodeHandle nh;
  ros::Publisher pub = nh.advertise<std_msgs::String>("namespaced", 10);
  ros::master::V_TopicInfo master_topics;
  ros::master::getTopics(master_topics);
  bool found_topic = false;

  for (ros::master::V_TopicInfo::iterator it = master_topics.begin() ; it != master_topics.end(); it++) {
    const ros::master::TopicInfo& info = *it;
    if (info.datatype.compare("std_msgs/String") == 0) {
      found_topic = true;
      EXPECT_STREQ("/test_namespace/namespaced", info.name.c_str());
    }
  }
  EXPECT_TRUE(found_topic);
}

TEST(DifferentNamespaces, NodeGlobalNodehandle) {
  ros::NodeHandle nh;
  ros::Publisher pub = nh.advertise<std_msgs::Float32>("/public", 10);
  ros::master::V_TopicInfo master_topics;
  ros::master::getTopics(master_topics);
  bool found_topic = false;

  for (ros::master::V_TopicInfo::iterator it = master_topics.begin() ; it != master_topics.end(); it++) {
    const ros::master::TopicInfo& info = *it;
    if (info.datatype.compare("std_msgs/Float32") == 0) {
      found_topic = true;
      EXPECT_STREQ("/public", info.name.c_str());
    }
  }
  EXPECT_TRUE(found_topic);
}

int main(int argc, char **argv) {
  testing::InitGoogleTest(&argc, argv);
  ros::init(argc, argv, "test_nodehandles_different_namespaces");
  return RUN_ALL_TESTS();
}