test_rdf_integration.cpp

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/* Author: David V. Lu!! */

#include <moveit/rdf_loader/rdf_loader.h>
#include <rclcpp/rclcpp.hpp>
#include <gtest/gtest.h>

TEST(RDFIntegration, default_arguments)
{
  rclcpp::Node::SharedPtr node = std::make_shared<rclcpp::Node>("default_arguments");
  rdf_loader::RDFLoader loader(node);
  ASSERT_NE(nullptr, loader.getURDF());
  EXPECT_EQ("kermit", loader.getURDF()->name_);
  ASSERT_NE(nullptr, loader.getSRDF());
  EXPECT_EQ("kermit", loader.getSRDF()->getName());
}

TEST(RDFIntegration, non_existent)
{
  rclcpp::Node::SharedPtr node = std::make_shared<rclcpp::Node>("non_existent");
  rdf_loader::RDFLoader loader(node, "does_not_exist");
  ASSERT_EQ(nullptr, loader.getURDF());
  ASSERT_EQ(nullptr, loader.getSRDF());
}

TEST(RDFIntegration, topic_based)
{
  rclcpp::Node::SharedPtr node = std::make_shared<rclcpp::Node>("topic_based");
  rdf_loader::RDFLoader loader(node, "topic_description");
  ASSERT_NE(nullptr, loader.getURDF());
  EXPECT_EQ("gonzo", loader.getURDF()->name_);
  ASSERT_NE(nullptr, loader.getSRDF());
  EXPECT_EQ("gonzo", loader.getSRDF()->getName());
}

TEST(RDFIntegration, executor)
{
  // RDFLoader should successfully load URDF and SRDF strings from a ROS topic when the node that is
  // passed to it is spinning.
  // GIVEN a node that has been added to an executor that is spinning on another thread
  rclcpp::Node::SharedPtr node = std::make_shared<rclcpp::Node>("executor");

  // Create a thread to spin an Executor.
  std::thread([node]() {
    rclcpp::executors::SingleThreadedExecutor executor;
    executor.add_node(node);
    executor.spin();
  }).detach();

  // WHEN the RDFLoader is created
  rdf_loader::RDFLoader loader(node, "topic_description");

  // THEN the RDFLoader should return non-null values for the URDF and SRDF model.
  ASSERT_NE(nullptr, loader.getURDF());
  EXPECT_EQ("gonzo", loader.getURDF()->name_);
  ASSERT_NE(nullptr, loader.getSRDF());
  EXPECT_EQ("gonzo", loader.getSRDF()->getName());
}

TEST(RDFIntegration, xacro_test)
{
  std::string output;
  std::vector<std::string> xacro_args;
  ASSERT_TRUE(rdf_loader::RDFLoader::loadPkgFileToString(output, "moveit_ros_planning",
                                                         "rdf_loader/test/data/robin.srdf.xacro", xacro_args));
  EXPECT_GT(output.size(), 0u);
}

int main(int argc, char** argv)
{
  rclcpp::init(argc, argv);
  ::testing::InitGoogleTest(&argc, argv);

  int ret = RUN_ALL_TESTS();
  rclcpp::shutdown();
  return ret;
}