test_urdf.cpp

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#include <gtest/gtest.h>
#include <cstdlib>

#include <dirent.h> 
#include <sys/types.h> 
#include <sys/param.h> 
#include <sys/stat.h> 
#include <unistd.h> 
#include <stdio.h> 
#include <string.h> 

#include <iostream>
#include <fstream>

#include <urdf_parser/urdf_parser.h>
#include <boost/function.hpp>
#include <urdf_model/model.h>

int runExternalProcess(const std::string &executable, const std::string &args)
{
    return system((executable + " " + args).c_str());
}

int walker( std::string & result, int& test_result)
{
  DIR           *d;
  struct dirent *dir;
  d = opendir( "robots" );
  if( d == NULL )
  {
    return 1;
  }
  while( ( dir = readdir( d ) ) )
  {
    if( strcmp( dir->d_name, "." ) == 0 || 
        strcmp( dir->d_name, ".." ) == 0 )
    {
      continue;
    }
    if( dir->d_type != DT_DIR )
    {
      std::string dir_name = dir->d_name;
      if (dir_name.find(std::string(".urdf.xacro")) == dir_name.size()-11)
      {
        char pwd[MAXPATHLEN];
        getcwd( pwd, MAXPATHLEN );
        std::string name = std::string(pwd)+"/robots/"+dir_name;
        printf("\n\ntesting: %s\n",name.c_str());
        result += name;
        result += " ";

        runExternalProcess("rosrun xacro xacro", name+" --inorder > `rospack find pr2_description`/test/tmp.urdf" );
        std::string path = std::string(pwd)+"/test/tmp.urdf";


        std::string xml_string;
        std::fstream xml_file(path.c_str(), std::fstream::in);
        while ( xml_file.good() )
        {
            std::string line;
            std::getline( xml_file, line);
            xml_string += (line + "\n");
        }
        xml_file.close();

        boost::shared_ptr<urdf::ModelInterface> robot = urdf::parseURDF(xml_string);
        if (!robot) test_result = test_result || 1;

      }
    }
  }
  closedir( d );
  return test_result;
}

TEST(URDF, CorrectFormat)
{
  int test_result = 0;

  std::string result;
  if( walker( result, test_result ) == 0 )
  {
    printf( "Found: %s\n", result.c_str() );
  }
  else
  {
    puts( "Not found" );
    test_result = -1;
  }

  EXPECT_TRUE(test_result == 0);
}

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