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Remove rmw-dependent unit-test checks (#1293) (#1377)

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* Remove rmw-dependent unit-test checks

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* Address feedback

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* PR Fixup

Signed-off-by: Stephen Brawner <brawner@gmail.com>
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brawner 2020-10-05 13:38:17 -07:00 • committed by GitHub
parent cb1b32ee15
commit b843c75ef8
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1 changed files with 25 additions and 5 deletions
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30
rclcpp_lifecycle/test/test_lifecycle_node.cpp
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@ -492,31 +492,51 @@ TEST_F(TestDefaultStateMachine, test_getters) {
TEST_F(TestDefaultStateMachine, test_graph) { TEST_F(TestDefaultStateMachine, test_graph) {
auto test_node = std::make_shared<EmptyLifecycleNode>("testnode"); auto test_node = std::make_shared<EmptyLifecycleNode>("testnode");
auto names = test_node->get_node_names(); auto names = test_node->get_node_names();
EXPECT_EQ(names.size(), 1u);
EXPECT_STREQ(names[0].c_str(), "/testnode");
// parameter_events, rosout, /testnode/transition_event ASSERT_NE(names.end(), std::find(names.begin(), names.end(), std::string("/testnode")));
// Other topics may exist for an rclcpp::Node, but just checking the lifecycle one exists
auto topic_names_and_types = test_node->get_topic_names_and_types(); auto topic_names_and_types = test_node->get_topic_names_and_types();
EXPECT_EQ(topic_names_and_types.size(), 3u); ASSERT_NE(
topic_names_and_types.end(),
topic_names_and_types.find(std::string("/testnode/transition_event")));
EXPECT_STREQ( EXPECT_STREQ(
topic_names_and_types["/testnode/transition_event"][0].c_str(), topic_names_and_types["/testnode/transition_event"][0].c_str(),
"lifecycle_msgs/msg/TransitionEvent"); "lifecycle_msgs/msg/TransitionEvent");
auto service_names_and_types = test_node->get_service_names_and_types(); auto service_names_and_types = test_node->get_service_names_and_types();
EXPECT_EQ(service_names_and_types.size(), 11u);
// These are specific to lifecycle nodes, other services are provided by rclcpp::Node // These are specific to lifecycle nodes, other services are provided by rclcpp::Node
ASSERT_NE(
service_names_and_types.end(),
service_names_and_types.find(std::string("/testnode/change_state")));
EXPECT_STREQ( EXPECT_STREQ(
service_names_and_types["/testnode/change_state"][0].c_str(), service_names_and_types["/testnode/change_state"][0].c_str(),
"lifecycle_msgs/srv/ChangeState"); "lifecycle_msgs/srv/ChangeState");
ASSERT_NE(
service_names_and_types.end(),
service_names_and_types.find(std::string("/testnode/get_available_states")));
EXPECT_STREQ( EXPECT_STREQ(
service_names_and_types["/testnode/get_available_states"][0].c_str(), service_names_and_types["/testnode/get_available_states"][0].c_str(),
"lifecycle_msgs/srv/GetAvailableStates"); "lifecycle_msgs/srv/GetAvailableStates");
ASSERT_NE(
service_names_and_types.end(),
service_names_and_types.find(std::string("/testnode/get_available_transitions")));
EXPECT_STREQ( EXPECT_STREQ(
service_names_and_types["/testnode/get_available_transitions"][0].c_str(), service_names_and_types["/testnode/get_available_transitions"][0].c_str(),
"lifecycle_msgs/srv/GetAvailableTransitions"); "lifecycle_msgs/srv/GetAvailableTransitions");
ASSERT_NE(
service_names_and_types.end(),
service_names_and_types.find(std::string("/testnode/get_state")));
EXPECT_STREQ( EXPECT_STREQ(
service_names_and_types["/testnode/get_state"][0].c_str(), service_names_and_types["/testnode/get_state"][0].c_str(),
"lifecycle_msgs/srv/GetState"); "lifecycle_msgs/srv/GetState");
ASSERT_NE(
service_names_and_types.end(),
service_names_and_types.find(std::string("/testnode/get_transition_graph")));
EXPECT_STREQ( EXPECT_STREQ(
service_names_and_types["/testnode/get_transition_graph"][0].c_str(), service_names_and_types["/testnode/get_transition_graph"][0].c_str(),
"lifecycle_msgs/srv/GetAvailableTransitions"); "lifecycle_msgs/srv/GetAvailableTransitions");