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Skeleton for Action Server and Client (#579)

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* Skeleton for ActionServer and ActionClient
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Shane Loretz 2018-11-21 09:16:51 -08:00 • committed by GitHub
parent f212d73413
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rclcpp_action/test/test_client.cpp Normal file
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// Copyright 2018 Open Source Robotics Foundation, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include <gtest/gtest.h>
#include <rclcpp/exceptions.hpp>
#include <rclcpp/node.hpp>
#include <rclcpp/rclcpp.hpp>
#include <test_msgs/action/fibonacci.hpp>
#include <memory>
#include "rclcpp_action/create_client.hpp"
#include "rclcpp_action/client.hpp"
class TestClient : public ::testing::Test
{
protected:
static void SetUpTestCase()
{
rclcpp::init(0, nullptr);
}
};
TEST_F(TestClient, construction_and_destruction)
{
auto node = std::make_shared<rclcpp::Node>("my_node", "/rclcpp_action/test/client");
auto ac = rclcpp_action::create_client<test_msgs::action::Fibonacci>(node.get(), "fibonacci");
(void)ac;
}

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rclcpp_action/test/test_server.cpp Normal file
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// Copyright 2018 Open Source Robotics Foundation, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include <rclcpp/exceptions.hpp>
#include <rclcpp/node.hpp>
#include <rclcpp/rclcpp.hpp>
#include <test_msgs/action/fibonacci.hpp>
#include <gtest/gtest.h>
#include <memory>
#include "rclcpp_action/create_server.hpp"
#include "rclcpp_action/server.hpp"
class TestServer : public ::testing::Test
{
protected:
static void SetUpTestCase()
{
rclcpp::init(0, nullptr);
}
};
TEST_F(TestServer, construction_and_destruction)
{
auto node = std::make_shared<rclcpp::Node>("my_node", "/rclcpp_action/test/server");
using GoalHandle = rclcpp_action::ServerGoalHandle<test_msgs::action::Fibonacci>;
auto as = rclcpp_action::create_server<test_msgs::action::Fibonacci>(node.get(), "fibonacci",
[](rcl_action_goal_info_t &, test_msgs::action::Fibonacci::Goal *) {},
[](std::shared_ptr<GoalHandle>) {});
(void)as;
}