Update tests for URL support

ros-navigation · Dec 3, 2019 · f38818c · f38818c
1 parent c3784d5
commit f38818c
Showing 1 changed file with 10 additions and 13 deletions.
diff --git a/nav2_map_server/test/component/test_occ_grid_node.cpp b/nav2_map_server/test/component/test_occ_grid_node.cpp
@@ -114,8 +114,7 @@ TEST_F(TestNode, LoadMap)
   RCLCPP_INFO(node_->get_logger(), "Waiting for load_map service");
   ASSERT_TRUE(client->wait_for_service());
 
-  req->type = nav2_msgs::srv::LoadMap::Request::TYPE_FILE;
-  req->map_id = path(TEST_DIR) / path(g_valid_yaml_file);
+  req->map_url = path("file://") / path(TEST_DIR) / path(g_valid_yaml_file);
   auto resp = send_request<nav2_msgs::srv::LoadMap>(node_, client, req);
 
   ASSERT_EQ(resp->result, nav2_msgs::srv::LoadMap::Response::RESULT_SUCCESS);
@@ -136,12 +135,13 @@ TEST_F(TestNode, LoadMapURL)
   RCLCPP_INFO(node_->get_logger(), "Waiting for load_map service");
   ASSERT_TRUE(client->wait_for_service());
 
-  req->type = nav2_msgs::srv::LoadMap::Request::TYPE_URL;
-  req->map_id = "dummy";
-  RCLCPP_INFO(node_->get_logger(), "Sending load_map request with invalid type");
+  req->map_url =
+    "https://raw.githubusercontent.com/ros-planning/navigation2/master" +
+    "/nav2_map_server/test/testmap.yaml";
+  RCLCPP_INFO(node_->get_logger(), "Sending load_map request with http: url");
   auto resp = send_request<nav2_msgs::srv::LoadMap>(node_, client, req);
 
-  ASSERT_EQ(resp->result, nav2_msgs::srv::LoadMap::Response::RESULT_INVALID_TYPE);
+  ASSERT_EQ(resp->result, nav2_msgs::srv::LoadMap::Response::RESULT_SUCCESS);
 }
 
 TEST_F(TestNode, LoadMapNull)
@@ -153,12 +153,11 @@ TEST_F(TestNode, LoadMapNull)
   RCLCPP_INFO(node_->get_logger(), "Waiting for load_map service");
   ASSERT_TRUE(client->wait_for_service());
 
-  req->type = nav2_msgs::srv::LoadMap::Request::TYPE_FILE;
-  req->map_id = "";
+  req->map_url = "";
   RCLCPP_INFO(node_->get_logger(), "Sending load_map request with null file name");
   auto resp = send_request<nav2_msgs::srv::LoadMap>(node_, client, req);
 
-  ASSERT_EQ(resp->result, nav2_msgs::srv::LoadMap::Response::RESULT_MAP_ID_DOES_NOT_EXIST);
+  ASSERT_EQ(resp->result, nav2_msgs::srv::LoadMap::Response::RESULT_MAP_DOES_NOT_EXIST);
 }
 
 TEST_F(TestNode, LoadMapInvalidYaml)
@@ -170,8 +169,7 @@ TEST_F(TestNode, LoadMapInvalidYaml)
   RCLCPP_INFO(node_->get_logger(), "Waiting for load_map service");
   ASSERT_TRUE(client->wait_for_service());
 
-  req->type = nav2_msgs::srv::LoadMap::Request::TYPE_FILE;
-  req->map_id = "invalid_file.yaml";
+  req->map_url = "invalid_file.yaml";
   RCLCPP_INFO(node_->get_logger(), "Sending load_map request with invalid yaml file name");
   auto resp = send_request<nav2_msgs::srv::LoadMap>(node_, client, req);
 
@@ -187,8 +185,7 @@ TEST_F(TestNode, LoadMapInvalidImage)
   RCLCPP_INFO(node_->get_logger(), "Waiting for load_map service");
   ASSERT_TRUE(client->wait_for_service());
 
-  req->type = nav2_msgs::srv::LoadMap::Request::TYPE_FILE;
-  req->map_id = req->map_id = path(TEST_DIR) / "invalid_image.yaml";
+  req->map_url = path("file://") / path(TEST_DIR) / "invalid_image.yaml";
   RCLCPP_INFO(node_->get_logger(), "Sending load_map request with invalid image file name");
   auto resp = send_request<nav2_msgs::srv::LoadMap>(node_, client, req);