check_model.cpp

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/* Author: John Hsu */

#include <string>
#include <gtest/gtest.h>
#include "gazebo/GetWorldProperties.h"
#include "geometry_msgs/Pose.h"
#include "std_srvs/Empty.h"

#include <sstream>
#include <tinyxml.h>
#include <boost/lexical_cast.hpp>

// Including ros, just to be able to call ros::init(), to remove unwanted
// args from command-line.
#include <ros/ros.h>

int g_argc;
char** g_argv;

TEST(SpawnTest, spawnSingleBox)
{
  ros::NodeHandle nh("");
  // make the service call to spawn model
  ros::service::waitForService("gazebo/get_world_properties");
  ros::ServiceClient check_model_client = nh.serviceClient<gazebo::GetWorldProperties>("gazebo/get_world_properties");
  gazebo::GetWorldProperties world_properties;


  bool found = false;

  // test duration
  double test_duration = 10.0; // default to 10 seconds sim time
  try
  {
    test_duration = boost::lexical_cast<double>(g_argv[1]);
  }
  catch (boost::bad_lexical_cast &e)
  {
    ROS_ERROR_NAMED("check_model", "first argument of check_model should be timeout");
    return;
  }
  ros::Time timeout = ros::Time::now() + ros::Duration(test_duration);

  // model name to look for
  std::string model_name = std::string(g_argv[2]);
  ROS_INFO_NAMED("check_model", "looking for model: %s",model_name.c_str());

  while (!found && ros::Time::now() < timeout)
  {
    check_model_client.call(world_properties);
    for (std::vector<std::string>::iterator mit = world_properties.response.model_names.begin();
                                            mit != world_properties.response.model_names.end();
                                            mit++)
    {
      if (*mit == model_name)
      {
        found = true;
        break;
      }
    }
  }

  ASSERT_TRUE(found);

  SUCCEED();
}




int main(int argc, char** argv)
{
  ros::init(argc, argv, "test", ros::init_options::AnonymousName);
  testing::InitGoogleTest(&argc, argv);
  g_argc = argc;
  g_argv = argv;
  return RUN_ALL_TESTS();
}