test_remap.cpp

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// Test <remap> tags
// Author: Max Schwarz <max.schwarz@ais.uni-bonn.de>
 
#include <catch_ros/catch.hpp>
 
#include "../../src/launch/launch_config.h"
 
#include "node_utils.h"
 
using namespace rosmon::launch;
 
TEST_CASE("remap", "[remap]")
{
        LaunchConfig config;
        config.parseString(R"EOF(
                <launch rosmon-name="rosmon_uut">
                                <remap from="topic_a" to="topic_b" />
 
                                <node name="test" pkg="rosmon_core" type="abort">
                                                <remap from="~local_a" to="/global_a" />
                                                <remap from="local_b" to="/global_b" />
                                </node>
 
                                <remap from="topic_c" to="topic_d" />
                </launch>
        )EOF");
 
        auto node = getNode(config.nodes(), "test");
 
        CAPTURE(printMapping(node->remappings()));
 
        auto maps = node->remappings();
 
        CHECK(maps.at("topic_a") == "topic_b");
        CHECK(maps.at("~local_a") == "/global_a");
        CHECK(maps.at("local_b") == "/global_b");
 
        CHECK(maps.find("topic_c") == maps.end());
}
 
TEST_CASE("remap scoped", "[remap]")
{
        LaunchConfig config;
        config.parseString(R"EOF(
                <launch rosmon-name="rosmon_uut">
                                <group ns="namespace">
                                        <remap from="topic_a" to="topic_b" />
                                </group>
 
                                <node name="test" pkg="rosmon_core" type="abort">
                                </node>
                </launch>
        )EOF");
 
        auto node = getNode(config.nodes(), "test");
 
        CAPTURE(printMapping(node->remappings()));
 
        auto maps = node->remappings();
 
        CHECK(maps.find("topic_a") == maps.end());
}