Class MoveItSetupTest

• Defined in File testing_utils.hpp

Inheritance Relationships

Base Type

• public testing::Test

Class Documentation

class MoveItSetupTest : public testing::Test

Test environment with DataWarehouse setup and help for generating files in a temp dir.

Protected Functions

inline void SetUp() override

Initialize the node, DataWarehouse and output dir.

You may want to override this method to register data types after calling MoveItSetupTest::SetUp()

template<typename T>
inline void generateFiles(const std::string &config_name)

Helper function for generating all the files for a particular config to a temporary directory.

Uses the same template/config_name structure as DataWarehouse::get

inline void initializeStep(SetupStep &setup_step)

inline void TearDown() override

Clean up by removing all files when complete.

Note that you only want to set delete_when_finished_ to false when testing locally

Protected Attributes

rclcpp::Node::SharedPtr node_

moveit_setup::DataWarehousePtr config_data_

std::filesystem::path output_dir_

moveit_setup::GeneratedTime placeholder_timestamp_

bool delete_when_finished_ = {true}