name_remapping.cpp

Go to the documentation of this file.

/*
 * Copyright (c) 2008, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

/* Author: Josh Faust */

/*
 * Test name remapping.  Assumes the parameter "test" is remapped to "test_remap", and the node name is remapped to "name_remapped"
 */

#include <string>
#include <sstream>
#include <fstream>

#include <gtest/gtest.h>

#include <time.h>
#include <stdlib.h>

#include "ros/ros.h"
#include <ros/param.h>
#include <ros/names.h>

TEST(roscpp, parameterRemapping)
{
  std::string param;
  ASSERT_TRUE(ros::param::get("test", param));
  ASSERT_STREQ(ros::names::resolve("test").c_str(), "/test_remap");

  ASSERT_TRUE(ros::param::get("/test", param));
  ASSERT_STREQ(ros::names::resolve("/test").c_str(), "/test_remap");
}

TEST(roscpp, nodeNameRemapping)
{
  std::string node_name = ros::this_node::getName();
  ASSERT_STREQ(node_name.c_str(), "/name_remapped");
}

TEST(roscpp, cleanName)
{
  ASSERT_STREQ(ros::names::clean("////asdf///").c_str(), "/asdf");
  ASSERT_STREQ(ros::names::clean("////asdf///jioweioj").c_str(), "/asdf/jioweioj");
  ASSERT_STREQ(ros::names::clean("////asdf///jioweioj/").c_str(), "/asdf/jioweioj");
}

TEST(RoscppHandles, nodeHandleNameRemapping)
{
  ros::M_string remap;
  remap["a"] = "b";
  remap["/a/a"] = "/a/b";
  remap["c"] = "/a/c";
  remap["d/d"] = "/c/e";
  remap["d/e"] = "c/f";
  ros::NodeHandle n("", remap);

  EXPECT_STREQ(n.resolveName("a").c_str(), "/b");
  EXPECT_STREQ(n.resolveName("/a/a").c_str(), "/a/b");
  EXPECT_STREQ(n.resolveName("c").c_str(), "/a/c");
  EXPECT_STREQ(n.resolveName("d/d").c_str(), "/c/e");

  ros::NodeHandle n2("z", remap);
  EXPECT_STREQ(n2.resolveName("a").c_str(), "/z/b");
  EXPECT_STREQ(n2.resolveName("/a/a").c_str(), "/a/b");
  EXPECT_STREQ(n2.resolveName("c").c_str(), "/a/c");
  EXPECT_STREQ(n2.resolveName("d/d").c_str(), "/c/e");
  EXPECT_STREQ(n2.resolveName("d/e").c_str(), "/z/c/f");
}

int
main(int argc, char** argv)
{
  testing::InitGoogleTest(&argc, argv);
  ros::init( argc, argv, "name_remapping" );
  ros::NodeHandle nh;

  return RUN_ALL_TESTS();
}

---

test_roscpp
Author(s): Morgan Quigley mquigley@cs.stanford.edu, Ken Conley kwc@willowgarage.com
autogenerated on Fri Jan 11 09:57:49 2013