[jsk_topic_tools] Test warnNoRemap

jsk_topic_tools/CMakeLists.txt

@@ -89,22 +89,23 @@ add_library(jsk_topic_tools SHARED
 add_dependencies(jsk_topic_tools ${PROJECT_NAME}_gencpp)
 target_link_libraries(jsk_topic_tools ${catkin_LIBRARIES})
 
-catkin_add_gtest(test_rosparam_utils src/tests/test_rosparam_utils.cpp)
-target_link_libraries(test_rosparam_utils ${PROJECT_NAME})
-
-add_rostest(test/test_topic_buffer.test)
-add_rostest(test/test_topic_buffer_close_wait.test)
-add_rostest(test/test_topic_buffer_fixed_rate.test)
-add_rostest(test/test_topic_buffer_fixed_rate_and_update_rate.test)
-add_rostest(test/test_topic_buffer_update_rate.test)
-add_rostest(test/test_lightweight_throttle.test)
-add_rostest(test/test_topic_compare.test)
-add_rostest(test/test_hz_measure.test)
-add_rostest(test/test_block.test)
-add_rostest(test/test_connection_based_nodelet.test)
-add_rostest(test/test_connection_based_transport.test)
 if (CATKIN_ENABLE_TESTING)
+  add_rostest(test/test_topic_buffer.test)
+  add_rostest(test/test_topic_buffer_close_wait.test)
+  add_rostest(test/test_topic_buffer_fixed_rate.test)
+  add_rostest(test/test_topic_buffer_fixed_rate_and_update_rate.test)
+  add_rostest(test/test_topic_buffer_update_rate.test)
+  add_rostest(test/test_lightweight_throttle.test)
+  add_rostest(test/test_topic_compare.test)
+  add_rostest(test/test_hz_measure.test)
+  add_rostest(test/test_block.test)
+  add_rostest(test/test_connection_based_nodelet.test)
+  add_rostest(test/test_connection_based_transport.test)
   catkin_add_nosetests(src/jsk_topic_tools/tests)
+  catkin_add_gtest(test_rosparam_utils src/tests/test_rosparam_utils.cpp)
+  target_link_libraries(test_rosparam_utils ${PROJECT_NAME})
+  add_rostest_gtest(test_log_utils test/test_log_utils.launch src/tests/test_log_utils.cpp)
+  target_link_libraries(test_log_utils ${PROJECT_NAME})
 endif()
 
 install(TARGETS topic_buffer_server topic_buffer_client jsk_topic_tools

jsk_topic_tools/include/jsk_topic_tools/log_utils.h

@@ -92,7 +92,8 @@ namespace jsk_topic_tools
   /** @brief warn if there are expected remappings.
    *
    * @param[in] names Names which are expected to remapped.
+   * @return false if there is at least a topic which is not remapped, else true;
    */
-  void warnNoRemap(const std::vector<std::string> names);
+  bool warnNoRemap(const std::vector<std::string> names);
 
 }

jsk_topic_tools/src/log_utils.cpp

@@ -39,17 +39,20 @@
 namespace jsk_topic_tools
 {
 
-  void warnNoRemap(const std::vector<std::string> names)
+  bool warnNoRemap(const std::vector<std::string> names)
   {
+    bool no_warning = true;
     ros::M_string remappings = ros::names::getRemappings();
     for (size_t i = 0; i < names.size(); i++) {
       std::string resolved_name = ros::names::resolve(/*name=*/names[i],
                                                       /*_remap=*/false);
       if (remappings.find(resolved_name) == remappings.end()) {
         ROS_WARN("[%s] '%s' has not been remapped.",
                  ros::this_node::getName().c_str(), names[i].c_str());
+        no_warning = false;
       }
     }
+    return no_warning;
   }
 
 }

jsk_topic_tools/src/tests/test_log_utils.cpp

@@ -0,0 +1,29 @@
+#include "jsk_topic_tools/log_utils.h"
+#include <ros/ros.h>
+#include <std_msgs/Header.h>
+#include <gtest/gtest.h>
+
+
+TEST(LogUtils, testWarnNoRemap){
+  ros::NodeHandle pnh = ros::NodeHandle("~");
+  ros::Publisher pub_remap = pnh.advertise<std_msgs::Header>(
+    /*topic=*/"remap", /*queue_size=*/10);
+  ros::Publisher pub_noremap = pnh.advertise<std_msgs::Header>(
+    /*topic=*/"noremap", /*queue_size=*/10);
+
+  std::vector<std::string> topics;
+  topics.push_back(std::string("~remap"));
+  bool actual;
+  actual = jsk_topic_tools::warnNoRemap(topics);
+  EXPECT_EQ(true, actual);
+
+  topics.push_back(std::string("~noremap"));
+  actual = jsk_topic_tools::warnNoRemap(topics);
+  EXPECT_EQ(false, actual);
+}
+
+int main(int argc, char **argv){
+  ros::init(argc, argv, "simple_lookup_transform");
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}

jsk_topic_tools/test/test_log_utils.launch

@@ -0,0 +1,12 @@
+<launch>
+  <!--
+    This file should not be called from rostest but ``catkin run_tests``.
+    So the extension is .launch
+  -->
+
+  <test test-name="test_log_utils"
+        pkg="jsk_topic_tools" type="test_log_utils">
+    <remap from="~remap" to="~remapped" />
+  </test>
+
+</launch>