add test_rosbag_storage package which simple unit test for storage API (

#299)

test/test_rosbag_storage/CMakeLists.txt

@@ -0,0 +1,18 @@
+cmake_minimum_required(VERSION 2.8.3)
+
+project(test_rosbag_storage)
+
+find_package(catkin REQUIRED COMPONENTS rosbag_storage std_msgs)
+
+find_package(Boost REQUIRED)
+
+catkin_package()
+
+if(CATKIN_ENABLE_TESTING)
+  include_directories(include ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS})
+
+  catkin_add_gtest(create_and_iterate_bag src/create_and_iterate_bag.cpp)
+  if(TARGET create_and_iterate_bag)
+    target_link_libraries(create_and_iterate_bag ${catkin_LIBRARIES})
+  endif()
+endif()

test/test_rosbag_storage/package.xml

@@ -0,0 +1,17 @@
+<package>
+  <name>test_rosbag_storage</name>
+  <version>1.9.50</version>
+  <description>
+    A package containing the unit tests for rosbag_storage.
+  </description>
+  <maintainer email="dthomas@osrfoundation.org">Dirk Thomas</maintainer>
+  <license>BSD</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <build_depend>rosbag_storage</build_depend>
+  <build_depend>std_msgs</build_depend>
+
+  <run_depend>rosbag_storage</run_depend>
+  <run_depend>std_msgs</run_depend>
+</package>

test/test_rosbag_storage/src/create_and_iterate_bag.cpp

@@ -0,0 +1,81 @@
+#include "ros/time.h"
+#include "rosbag/bag.h"
+#include "rosbag/view.h"
+#include "std_msgs/Int32.h"
+#include "std_msgs/String.h"
+
+#include <string>
+#include <vector>
+
+#include "boost/foreach.hpp"
+#include <gtest/gtest.h>
+
+
+TEST(rosbag_storage, create_and_iterate_bag)
+{
+  const char* bag_filename = "/tmp/rosbag_storage_create_and_iterate_bag.bag";
+  {
+    rosbag::Bag bag;
+    bag.open(bag_filename, rosbag::bagmode::Write);
+
+    std_msgs::String str;
+    str.data = std::string("foo");
+
+    std_msgs::Int32 i;
+    i.data = 42;
+
+    bag.write("chatter", ros::Time::now(), str);
+    bag.write("numbers", ros::Time::now(), i);
+
+    bag.close();
+  }
+
+  {
+    rosbag::Bag bag;
+    bag.open(bag_filename, rosbag::bagmode::Read);
+
+    std::vector<std::string> topics;
+    topics.push_back(std::string("chatter"));
+    topics.push_back(std::string("numbers"));
+
+    rosbag::View view(bag, rosbag::TopicQuery(topics));
+
+    BOOST_FOREACH(rosbag::MessageInstance const m, view)
+    {
+      std_msgs::String::ConstPtr s = m.instantiate<std_msgs::String>();
+      if (s != NULL)
+      {
+        if(s->data == std::string("foo")) { 
+          printf("Successfully checked string foo\n");
+        }
+        else
+        {
+          printf("Failed checked string foo\n");
+          FAIL();
+        }
+      }
+
+      std_msgs::Int32::ConstPtr i = m.instantiate<std_msgs::Int32>();
+      if (i != NULL)
+      {
+        if (i->data == 42) { 
+          printf("Successfully checked value 42\n");
+        }
+        else
+        {
+          printf("Failed checked value 42.\n"); 
+          FAIL();
+        }
+      }
+    }
+
+    bag.close();
+  }
+}
+
+int main(int argc, char **argv) {
+    ros::Time::init();
+
+    testing::InitGoogleTest(&argc, argv);
+    return RUN_ALL_TESTS();
+}