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00019 #include <gtest/gtest.h>
00020
00021 #include <geometry_msgs/PoseStamped.h>
00022
00023 #include <variant_msgs/Test.h>
00024
00025 #include <variant_topic_tools/DataTypeRegistry.h>
00026 #include <variant_topic_tools/MessageType.h>
00027
00028 using namespace variant_topic_tools;
00029
00030 TEST(MessageType, Load) {
00031 DataTypeRegistry registry;
00032
00033 MessageType t1, t2, t3;
00034
00035 EXPECT_NO_THROW(t1.load("variant_msgs/Test"));
00036 EXPECT_EQ(ros::message_traits::definition<variant_msgs::Test>(),
00037 t1.getDefinition());
00038 EXPECT_ANY_THROW(t2.load("variant_msgs/Undefined"));
00039 EXPECT_NO_THROW(t3.load("geometry_msgs/PoseStamped"));
00040 EXPECT_EQ(ros::message_traits::definition<geometry_msgs::PoseStamped>(),
00041 t3.getDefinition());
00042
00043 registry.clear();
00044 }