name_remapping_with_ns.cpp

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
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 *       this software without specific prior written permission.
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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/* 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_STREQ(ros::names::resolve("test_full").c_str(), "/b/test_full");
  ASSERT_TRUE(ros::param::get("test_full", param));
  ASSERT_STREQ(ros::names::resolve("/a/test_full").c_str(), "/b/test_full");
  ASSERT_TRUE(ros::param::get("/a/test_full", param));
 
  ASSERT_STREQ(ros::names::resolve("test_local").c_str(), "/a/test_local2");
  ASSERT_TRUE(ros::param::get("test_local", param));
  ASSERT_STREQ(ros::names::resolve("/a/test_local").c_str(), "/a/test_local2");
  ASSERT_TRUE(ros::param::get("/a/test_local", param));
 
  ASSERT_STREQ(ros::names::resolve("test_relative").c_str(), "/b/test_relative");
  ASSERT_TRUE(ros::param::get("test_relative", param));
  ASSERT_STREQ(ros::names::resolve("/a/test_relative").c_str(), "/b/test_relative");
  ASSERT_TRUE(ros::param::get("/a/test_relative", param));
}
 
TEST(roscpp, nodeNameRemapping)
{
  std::string node_name = ros::this_node::getName();
  ASSERT_STREQ(node_name.c_str(), "/a/name_remapped_with_ns");
}
int
main(int argc, char** argv)
{
  testing::InitGoogleTest(&argc, argv);
  ros::init( argc, argv, "name_remapping_with_ns" );
  ros::NodeHandle nh;
 
  return RUN_ALL_TESTS();
}