test_listener.cpp

Go to the documentation of this file.

#include "json_transport/json_transport.hpp"

#include "gtest/gtest.h"
#include "ros/ros.h"

TEST(TestSuite, listen_test)
{
  ros::NodeHandle nh;

  std::string data_string;
  nh.getParam("test_data", data_string);
  auto data = json_transport::json_t::parse(data_string);

  boost::shared_ptr<const json_transport::json_t> received = ros::topic::waitForMessage<json_transport::json_t>("json");
  ROS_INFO_STREAM("Received " << *received);

  EXPECT_EQ(data, *received);
}

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