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Fixed ROS subscriber test in ros_ign_bridge #189

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merged 4 commits into from
Dec 21, 2021
+10 −26
Merged

Fixed ROS subscriber test in ros_ign_bridge #189

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24fa757
Fixed ros subscriber test
WilliamLewww Dec 13, 2021
4dbae90
Fixed test name
WilliamLewww Dec 13, 2021
fa86abe
Fixed IMU ros publisher test
WilliamLewww Dec 17, 2021
a07c05c
Removed incompatable message conversions
WilliamLewww Dec 18, 2021
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2 changes: 1 addition & 1 deletion ros_ign_bridge/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -160,7 +160,7 @@ if(BUILD_TESTING)
)
target_include_directories(test_ros_publisher PUBLIC ${GTEST_INCLUDE_DIRS})

add_executable(test_ros_subscriber test/subscribers/ign_subscriber.cpp)
add_executable(test_ros_subscriber test/subscribers/ros_subscriber.cpp)
ament_target_dependencies(test_ros_subscriber
geometry_msgs
nav_msgs
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4 changes: 2 additions & 2 deletions ros_ign_bridge/test/launch/test_ros_subscriber.launch.py
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Expand Up @@ -85,14 +85,14 @@ def generate_test_description():
]), locals()


class IgnSubscriberTest(unittest.TestCase):
class ROSSubscriberTest(unittest.TestCase):

def test_termination(self, process_under_test, proc_info):
proc_info.assertWaitForShutdown(process=process_under_test, timeout=200)


@launch_testing.post_shutdown_test()
class IgnSubscriberTestAfterShutdown(unittest.TestCase):
class ROSSubscriberTestAfterShutdown(unittest.TestCase):

def test_exit_code(self, process_under_test, proc_info):
launch_testing.asserts.assertExitCodes(
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10 changes: 5 additions & 5 deletions ros_ign_bridge/test/subscribers/ros_subscriber.cpp
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Expand Up @@ -67,9 +67,9 @@ class MyTestClass
/// \brief Member function called each time a topic update is received.

public:
void Cb(const typename ROS_T::SharedPtr _msg)
void Cb(const ROS_T & _msg)
{
ros_ign_bridge::testing::compareTestMsg(_msg);
ros_ign_bridge::testing::compareTestMsg(std::make_shared<ROS_T>(_msg));
this->callbackExecuted = true;
}

Expand Down Expand Up @@ -123,11 +123,11 @@ TEST(ROSSubscriberTest, Float)
/////////////////////////////////////////////////
TEST(ROSSubscriberTest, Double)
{
MyTestClass<std_msgs::Float64> client("double");
MyTestClass<std_msgs::msg::Float64> client("double");

using namespace std::chrono_literals;
ros_ign_bridge::testing::waitUntilBoolVarAndSpin(
client.callbackExecuted, 10ms, 200);
node, client.callbackExecuted, 10ms, 200);

EXPECT_TRUE(client.callbackExecuted);
}
Expand Down Expand Up @@ -271,7 +271,7 @@ TEST(ROSSubscriberTest, TF2Message)

using namespace std::chrono_literals;
ros_ign_bridge::testing::waitUntilBoolVarAndSpin(
client.callbackExecuted, 10ms, 200);
node, client.callbackExecuted, 10ms, 200);

EXPECT_TRUE(client.callbackExecuted);
}
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20 changes: 2 additions & 18 deletions ros_ign_bridge/test/test_utils.hpp
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Expand Up @@ -449,12 +449,12 @@ void createTestMsg(tf2_msgs::msg::TFMessage & _msg)

/// \brief Compare a message with the populated for testing.
/// \param[in] _msg The message to compare.
void compareTestMsg(const tf2_msgs::msg::TFMessage & _msg)
void compareTestMsg(const std::shared_ptr<tf2_msgs::msg::TFMessage> & _msg)
{
tf2_msgs::msg::TFMessage expected_msg;
createTestMsg(expected_msg);

compareTestMsg(std::make_shared<geometry_msgs::msg::TransformStamped>(_msg.transforms[0]));
compareTestMsg(std::make_shared<geometry_msgs::msg::TransformStamped>(_msg->transforms[0]));
}

/// \brief Create a message used for testing.
Expand Down Expand Up @@ -813,11 +813,8 @@ void createTestMsg(sensor_msgs::msg::Imu & _msg)

_msg.header = header_msg;
_msg.orientation = quaternion_msg;
_msg.orientation_covariance = {1, 2, 3, 4, 5, 6, 7, 8, 9};
_msg.angular_velocity = vector3_msg;
_msg.angular_velocity_covariance = {1, 2, 3, 4, 5, 6, 7, 8, 9};
_msg.linear_acceleration = vector3_msg;
_msg.linear_acceleration_covariance = {1, 2, 3, 4, 5, 6, 7, 8, 9};
}

/// \brief Compare a message with the populated for testing.
Expand All @@ -828,12 +825,6 @@ void compareTestMsg(const std::shared_ptr<sensor_msgs::msg::Imu> & _msg)
compareTestMsg(_msg->orientation);
compareTestMsg(std::make_shared<geometry_msgs::msg::Vector3>(_msg->angular_velocity));
compareTestMsg(std::make_shared<geometry_msgs::msg::Vector3>(_msg->linear_acceleration));

for (auto i = 0; i < 9; ++i) {
EXPECT_FLOAT_EQ(i + 1, _msg->orientation_covariance[i]);
EXPECT_FLOAT_EQ(i + 1, _msg->angular_velocity_covariance[i]);
EXPECT_FLOAT_EQ(i + 1, _msg->linear_acceleration_covariance[i]);
}
}

/// \brief Create a message used for testing.
Expand Down Expand Up @@ -886,7 +877,6 @@ void createTestMsg(sensor_msgs::msg::LaserScan & _msg)
_msg.angle_min = -1.57;
_msg.angle_max = 1.57;
_msg.angle_increment = 3.14 / num_readings;
_msg.time_increment = (1 / laser_frequency) / (num_readings);
_msg.scan_time = 0;
_msg.range_min = 1;
_msg.range_max = 2;
Expand All @@ -905,7 +895,6 @@ void compareTestMsg(const std::shared_ptr<sensor_msgs::msg::LaserScan> & _msg)
EXPECT_FLOAT_EQ(expected_msg.angle_min, _msg->angle_min);
EXPECT_FLOAT_EQ(expected_msg.angle_max, _msg->angle_max);
EXPECT_FLOAT_EQ(expected_msg.angle_increment, _msg->angle_increment);
EXPECT_FLOAT_EQ(0.00025000001, _msg->time_increment);
EXPECT_FLOAT_EQ(0, _msg->scan_time);
EXPECT_FLOAT_EQ(expected_msg.range_min, _msg->range_min);
EXPECT_FLOAT_EQ(expected_msg.range_max, _msg->range_max);
Expand All @@ -930,7 +919,6 @@ void createTestMsg(sensor_msgs::msg::MagneticField & _msg)

_msg.header = header_msg;
_msg.magnetic_field = vector3_msg;
_msg.magnetic_field_covariance = {1, 2, 3, 4, 5, 6, 7, 8, 9};
}

/// \brief Compare a message with the populated for testing.
Expand All @@ -939,10 +927,6 @@ void compareTestMsg(const std::shared_ptr<sensor_msgs::msg::MagneticField> & _ms
{
compareTestMsg(_msg->header);
compareTestMsg(std::make_shared<geometry_msgs::msg::Vector3>(_msg->magnetic_field));

for (auto i = 0u; i < 9; ++i) {
EXPECT_FLOAT_EQ(i + 1, _msg->magnetic_field_covariance[i]);
}
}

/// \brief Create a message used for testing.
Expand Down