Merge pull request #7 from Scarabrine/master

Add gtest for library and rostest for nodes
JuliaMPC · Nov 5, 2018 · f78ef03 · f78ef03
2 parents 9b0613c + fe30ee0
commit f78ef03
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diff --git a/ros/src/models/chrono/ros_chrono/CMakeLists.txt b/ros/src/models/chrono/ros_chrono/CMakeLists.txt
@@ -323,3 +323,16 @@ target_link_libraries(velocity_controller
 
 ## Add folders to be run by python nosetests
 # catkin_add_nosetests(test)
+
+#####################
+# g Tests and rostest
+#####################
+# New added for rostest
+if(CATKIN_ENABLE_TESTING)
+  message("\n\nGoing to build the ros_chrono tests!\n\n")
+  find_package(rostest REQUIRED)
+  # You can add arbitrary new test files in the end of add_rostest_gtest
+  add_rostest(launch/steering.launch) #perhaps
+
+endif()
+# End rostest
diff --git a/ros/src/models/chrono/ros_chrono/launch/steering.launch b/ros/src/models/chrono/ros_chrono/launch/steering.launch
@@ -10,5 +10,8 @@
   <rosparam command="load" file="$(arg chrono_params_path)"/>
 
   <node name="Reference" pkg="traj_gen_chrono" type="traj_gen_chrono"/>
+  <test test-name="Reference_test" pkg="traj_gen_chrono" type="traj_gen_chrono"/>
+
   <node name="Chronode" pkg="ros_chrono" type="steering_controller" cwd="node" />
+  <test test-name="Chronode_test" pkg="ros_chrono" type="steering_controller" />
 </launch>
diff --git a/ros/src/models/chrono/ros_chrono/package.xml b/ros/src/models/chrono/ros_chrono/package.xml
@@ -49,6 +49,11 @@
   <!--   <doc_depend>doxygen</doc_depend> -->
   <buildtool_depend>catkin</buildtool_depend>
 
+  <!-- New added part for rostest, start -->
+  <depend>rostest</depend> 
+  <depend>genmsg</depend>
+  <!-- New added part for rostest, end -->
+
   <build_depend>roscpp</build_depend>
   <build_depend>rospy</build_depend>
   <build_depend>std_msgs</build_depend>

diff --git a/ros/src/system/CMakeLists.txt b/ros/src/system/CMakeLists.txt
@@ -19,3 +19,19 @@ add_executable(system_shutdown src/system_shutdown.cpp)
 target_link_libraries(system_shutdown ${catkin_LIBRARIES})
 
 add_dependencies(system_shutdown ${catkin_EXPORTED_TARGETS})
+
+#####################
+# g Tests and rostest
+#####################
+# New added for rostest
+if(CATKIN_ENABLE_TESTING)
+	message("\n\nGoing to build the tests!\n\n")
+	find_package(rostest REQUIRED)
+	find_package(gtest)
+	# You can add arbitrary new test files in the end of add_rostest_gtest
+	add_rostest_gtest(test_mynode test/gtest_launch.launch src/test/mytest.cpp)
+	add_rostest(launch/demoA.launch) #perhaps
+
+	target_link_libraries(test_mynode ${catkin_LIBRARIES} ${GTEST_LIBRARIES})
+endif()
+# End rostest and gtest
diff --git a/ros/src/system/launch/demoA.launch b/ros/src/system/launch/demoA.launch
@@ -39,11 +39,14 @@
   <node name="system_shutdown" pkg="system" type="system_shutdown" output="screen" required="true">
      <rosparam file="$(arg system_params_path)" command="load"/>
   </node>
+  <test test-name="system_shutdown" pkg="system" type="system_shutdown" />
 
   <!-- initialize system -->
   <node name="bootstrap" pkg="system" type="bootstrap.jl" output="screen"/>
+  <test test-name="bootstrap" pkg="system" type="bootstrap.jl" />
 
   <!-- unpause Gazebo -->
   <node name="unpause_gazebo" pkg="vehicle_description" type="unpause.jl" output="screen"/>
+  <test test-name="unpause_gazebo" pkg="vehicle_description" type="unpause.jl" />
 
 </launch>
diff --git a/ros/src/system/package.xml b/ros/src/system/package.xml
@@ -21,6 +21,12 @@
   <depend>roscpp</depend>
   <depend>rospy</depend>
 
+  <!-- New added part for rostest, start -->
+  <depend>rostest</depend> 
+  <depend>genmsg</depend>
+  <depend>std_msgs</depend>
+  <!-- New added part for rostest, end -->
+
   <exec_depend>nloptcontrol_planner</exec_depend>
   <exec_depend>vehicle_description</exec_depend>
   <exec_depend>obstacle_detector</exec_depend>

diff --git a/ros/src/system/src/test/mytest.cpp b/ros/src/system/src/test/mytest.cpp
@@ -0,0 +1,18 @@
+#include "ros/ros.h"
+#include <gtest/gtest.h>
+
+
+TEST(MAVsTester, basicTest){
+
+  int a = 1;
+  int b = 2;
+  int c = a+b;
+  std::cout << "\n\n\nThis comes form inside of one test case\n\n\n";
+
+  EXPECT_EQ(c, 3);
+}
+
+int main(int argc, char** argv){
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}
diff --git a/ros/src/system/test/demo_test.test b/ros/src/system/test/demo_test.test
@@ -0,0 +1,3 @@
+<launch> 
+ <test test-name="demoA" pkg="system" type="testA.py" />
+</launch>
diff --git a/ros/src/system/test/gtest_launch.launch b/ros/src/system/test/gtest_launch.launch
@@ -0,0 +1,3 @@
+<launch>
+ <test test-name="test_mynode" pkg="system" type="test_mynode" />
+</launch>