Follow cartographer-project/cartographer_ros#471. (#66)

cartographer-project · Aug 3, 2017 · ac1c33a · ac1c33a
1 parent d146878
commit ac1c33a
Showing 1 changed file with 3 additions and 12 deletions.
diff --git a/cartographer_turtlebot/cartographer_turtlebot/configuration_files_test.cc b/cartographer_turtlebot/cartographer_turtlebot/configuration_files_test.cc
@@ -17,10 +17,7 @@
 #include <string>
 #include <vector>
 
-#include "cartographer/common/configuration_file_resolver.h"
-#include "cartographer/common/lua_parameter_dictionary.h"
 #include "cartographer_ros/node_options.h"
-#include "cartographer_ros/trajectory_options.h"
 #include "gtest/gtest.h"
 #include "ros/package.h"
 
@@ -31,15 +28,9 @@ class ConfigurationFilesTest : public ::testing::TestWithParam<const char*> {};
 
 TEST_P(ConfigurationFilesTest, ValidateNodeOptions) {
   EXPECT_NO_FATAL_FAILURE({
-    auto file_resolver = ::cartographer::common::make_unique<
-        ::cartographer::common::ConfigurationFileResolver>(
-        std::vector<string>{::ros::package::getPath("cartographer_turtlebot") +
-                            "/configuration_files"});
-    const string code = file_resolver->GetFileContentOrDie(GetParam());
-    ::cartographer::common::LuaParameterDictionary lua_parameter_dictionary(
-        code, std::move(file_resolver));
-    ::cartographer_ros::CreateNodeOptions(&lua_parameter_dictionary);
-    ::cartographer_ros::CreateTrajectoryOptions(&lua_parameter_dictionary);
+    LoadOptions(::ros::package::getPath("cartographer_turtlebot") +
+                    "/configuration_files",
+                GetParam());
   });
 }