test_remapping.cpp

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/*
 * Copyright (c) 2009, Willow Garage, Inc.
 * All rights reserved.
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 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#include <ros/ros.h>
#include <gtest/gtest.h>

static int argc_;
static char** argv_;

TEST(RemappingTest, remapping_test)
{
  EXPECT_TRUE(argc_ >= 3);

  std::string expected_base_ns = argv_[1];
  std::string expected_sub_ns  = argv_[2];

  ros::NodeHandle nh;
  //ros::NodeHandle pnh("~");

  bool use_local_remap = false;
  EXPECT_TRUE(nh.getParam("use_local_remap", use_local_remap)) 
    << "Param [~use_local_remap] must be defined\n";

  if (use_local_remap)
  {
    std::string remap_from, remap_to;
    EXPECT_TRUE(nh.getParam("remap_from", remap_from)) << "Param [~remap_from] must be defined\n";
    EXPECT_TRUE(nh.getParam("remap_to",   remap_to))   << "Param [~remap_to] must be defined\n";

    // Construct the new node by passing in a dictionary of remaps
    ros::M_string local_remappings;
    local_remappings.insert(std::make_pair(remap_from, remap_to));

    ros::NodeHandle base_nh(nh, "base_namespace", local_remappings);
    EXPECT_TRUE(base_nh.getNamespace() == expected_base_ns) 
      << "Error: \"" << base_nh.getNamespace() << "\" != \""  << expected_base_ns << "\"\n";

    ros::NodeHandle sub_nh(base_nh, "sub_namespace");
    EXPECT_TRUE(sub_nh.getNamespace() == expected_sub_ns) 
      << "Error: \"" << sub_nh.getNamespace() << "\" != \""  << expected_sub_ns << "\"\n";
  }
  else
  {
    std::cout << "***********************************************************************\n";
    ros::NodeHandle base_nh(nh, "base_namespace");
    EXPECT_EQ(base_nh.getNamespace(), expected_base_ns); 

    ros::NodeHandle sub_nh(base_nh, "sub_namespace");
    EXPECT_EQ(sub_nh.getNamespace(), expected_sub_ns); 
  }
}

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