Initial tests

Signed-off-by: Alberto Tudela <ajtudela@gmail.com>

dsr_util/CMakeLists.txt

@@ -137,7 +137,7 @@ if(BUILD_TESTING)
   set(ament_cmake_copyright_FOUND TRUE)
   ament_lint_auto_find_test_dependencies()
 
-  # add_subdirectory(test)
+  add_subdirectory(test)
 endif()
 
 # Export old-style CMake variables

dsr_util/include/dsr_util/dsr_api_ext.hpp

@@ -56,7 +56,7 @@ class DSRGraphExt : public DSR::DSRGraph
   ~DSRGraphExt() = default;
 
   /**
-   * @brief Create a node with priority and source.
+   * @brief Create a node with priority and source attributes.
    *
    * @tparam node_type The type of the DSR node. Defined in ros_to_dsr_types.hpp.
    * @param name Name of the DSR node.
@@ -85,7 +85,7 @@ class DSRGraphExt : public DSR::DSRGraph
   }
 
   /**
-   * @brief Create a node with the given name and the name of the parent.
+   * @brief Create a node with a position relative to the parent node.
    *
    * @tparam node_type The type of the DSR node. Defined in ros_to_dsr_types.hpp.
    * @tparam edge_type The type of the DSR edge. Defined in ros_to_dsr_types.hpp.
@@ -124,7 +124,7 @@ class DSRGraphExt : public DSR::DSRGraph
   }
 
   /**
-   * @brief Create a edge with a source.
+   * @brief Create a edge with a source attribute.
    *
    * @tparam edge_type The type of the DSR edge. Defined in ros_to_dsr_types.hpp.
    * @param from Id of the parent DSR node.

dsr_util/test/test_dsr_api_ext.cpp

@@ -31,6 +31,7 @@ class DSRApiExtTest : public ::testing::Test
 
   void TearDown() override
   {
+    std::this_thread::sleep_for(std::chrono::milliseconds(100));
     G_.reset();
   }
 
@@ -67,14 +68,14 @@ TEST_F(DSRApiExtTest, create_node_with_pose) {
     G_->create_node_with_priority<robot_node_type>("parent_node", 0, "test_source");
 
   if (auto id = G_->insert_node(parent_node); id.has_value()) {
-    auto node = G_->create_node_with_pose<robot_node_type, RT_edge_type>(
+    auto child_node = G_->create_node_with_pose<robot_node_type, RT_edge_type>(
       "test_node", "parent_node", 0, "test_source");
 
-    EXPECT_EQ(node.name(), "test_node");
-    EXPECT_EQ(node.type(), "robot");
+    EXPECT_EQ(child_node.name(), "test_node");
+    EXPECT_EQ(child_node.type(), "robot");
 
     // Check parent and level attributes, not the random position
-    auto attributes = node.attrs();
+    auto attributes = child_node.attrs();
     auto search = attributes.find("parent");
     EXPECT_TRUE(search != attributes.end());
     EXPECT_EQ(std::get<uint64_t>(search->second.value()), id.value());