test multiple nodelet manager support (ros-drivers#108)

velodyne_pointcloud/tests/CMakeLists.txt

@@ -44,11 +44,9 @@ add_rostest(cloud_node_64e_s2.1_hz.test)
 add_rostest(cloud_nodelet_64e_s2.1_hz.test)
 add_rostest(cloud_node_vlp16_hz.test)
 add_rostest(cloud_nodelet_vlp16_hz.test)
-
-## These tests don't work well enough to be worth the effort of
-## running them:
 add_rostest(transform_node_hz.test)
 add_rostest(transform_nodelet_hz.test)
+add_rostest(two_nodelet_managers.test)
 
 # parse check all the launch/*.launch files
 roslaunch_add_file_check(../launch)

velodyne_pointcloud/tests/two_nodelet_managers.test

@@ -0,0 +1,48 @@
+<!-- -*- mode: XML -*- -->
+<!-- rostest of publishing using two different nodelet managers. -->
+
+<launch>
+
+  <!-- use separate namespaces for each device and its nodelet manager -->
+
+  <group ns="hdl32e">
+
+    <!-- start nodelet manager, driver and cloud nodelets -->
+    <include file="$(find velodyne_pointcloud)/launch/32e_points.launch">
+      <arg name="frame_id" value="hdl32e"/>
+      <arg name="pcap" value="$(find velodyne_pointcloud)/tests/32e.pcap"/>
+    </include>
+
+    <!-- verify PointCloud2 publication rate -->
+    <test test-name="multi_nodelet_32e_test" pkg="rostest"
+          type="hztest" name="hztest_multi_nodelet_32e" >
+      <param name="hz" value="10.0" />
+      <param name="hzerror" value="3.0" />
+      <param name="test_duration" value="5.0" />
+      <param name="topic" value="/hdl32e/velodyne_points" />
+      <param name="wait_time" value="2.0" />
+    </test>
+
+  </group>
+
+  <group ns="vlp16">
+
+    <!-- start nodelet manager, driver and cloud nodelets -->
+    <include file="$(find velodyne_pointcloud)/launch/VLP16_points.launch">
+      <arg name="frame_id" value="vlp16"/>
+      <arg name="pcap" value="$(find velodyne_pointcloud)/tests/vlp16.pcap"/>
+    </include>
+
+    <!-- verify PointCloud2 publication rate -->
+    <test test-name="multi_nodelet_vlp16_test" pkg="rostest"
+          type="hztest" name="hztest_multi_nodelet_vlp16" >
+      <param name="hz" value="10.0" />
+      <param name="hzerror" value="3.0" />
+      <param name="test_duration" value="5.0" />
+      <param name="topic" value="/vlp16/velodyne_points" />
+      <param name="wait_time" value="2.0" />
+    </test>
+
+  </group>
+
+</launch>