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Sub Node alternative (#581)

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* Sub Node alternative

* Sub Node alternative

* Test // characters in namespaces

* Sub Node alternative

* Test // characters in namespaces

* Fixing style and warning in the order of initalizing members

* Fixing cases with / in different positions, and adding new tests

* Removing commented methods

* Changing extended_namespace to sub_namespace

* Fixed a bug when merging

* Fixed a bug when merging

* Sub Node alternative

* Sub Node alternative

* Test // characters in namespaces

* Fixing style and warning in the order of initalizing members

* Fixing cases with / in different positions, and adding new tests

* Removing commented methods

* Changing extended_namespace to sub_namespace

* Fixed a bug when merging

* Merge with origin to update branch

* improvements to API and documentation

Signed-off-by: William Woodall <william@osrfoundation.org>

* style and fixing tests

Signed-off-by: William Woodall <william@osrfoundation.org>

* fixup subnode specific tests

Signed-off-by: William Woodall <william@osrfoundation.org>

* remove vestigial function

Signed-off-by: William Woodall <william@osrfoundation.org>

* improve documentation

Signed-off-by: William Woodall <william@osrfoundation.org>

* add test to check interaction between ~ and sub-nodes

Signed-off-by: William Woodall <william@osrfoundation.org>

* typo

Signed-off-by: William Woodall <william@osrfoundation.org>
This commit is contained in:
Francisco Martín Rico 2019-02-15 21:50:39 +01:00 • committed by William Woodall
parent 10d7b7c72b
commit ef5f3d3fc1
8 changed files with 593 additions and 16 deletions
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39
rclcpp/test/test_client.cpp
View file

@ -43,6 +43,28 @@ protected:
rclcpp::Node::SharedPtr node;
};
class TestClientSub : public ::testing::Test
{
protected:
static void SetUpTestCase()
{
}
void SetUp()
{
node = std::make_shared<rclcpp::Node>("my_node", "/ns");
subnode = node->create_sub_node("sub_ns");
}
void TearDown()
{
node.reset();
}
rclcpp::Node::SharedPtr node;
rclcpp::Node::SharedPtr subnode;
};
/*
Testing client construction and destruction.
*/
@ -58,3 +80,20 @@ TEST_F(TestClient, construction_and_destruction) {
}, rclcpp::exceptions::InvalidServiceNameError);
}
}
/*
Testing client construction and destruction for subnodes.
*/
TEST_F(TestClientSub, construction_and_destruction) {
using rcl_interfaces::srv::ListParameters;
{
auto client = subnode->create_client<ListParameters>("service");
EXPECT_STREQ(client->get_service_name(), "/ns/sub_ns/service");
}
{
ASSERT_THROW({
auto client = node->create_client<ListParameters>("invalid_service?");
}, rclcpp::exceptions::InvalidServiceNameError);
}
}