test_nodehandles_manager_namespaced.cpp

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/*********************************************************************
* test_nodehandles_same_namespaces.cpp
*
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* Authors: Aris Synodinos
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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 <ros/ros.h>
 
TEST(ManagerNamespaced, 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("/nodehandle_test/private", info.name.c_str());
    }
  }
  EXPECT_TRUE(found_topic);
}
 
// TODO(mikaelarguedas) reenable this once
// https://github.com/ros/nodelet_core/issues/7 is fixed
// TEST(ManagerNamespaced, 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("/namespaced", info.name.c_str());
//     }
//   }
//   EXPECT_TRUE(found_topic);
// }
 
TEST(ManagerNamespaced, 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(ManagerNamespaced, 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_nodehandles/private", info.name.c_str());
    }
  }
  EXPECT_TRUE(found_topic);
}
 
TEST(ManagerNamespaced, 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("/namespaced", info.name.c_str());
    }
  }
  EXPECT_TRUE(found_topic);
}
 
TEST(ManagerNamespaced, 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_manager_namespaced");
  return RUN_ALL_TESTS();
}