Test nodehandles (#64)

* Added unit tests for the nodehandles

* fix copy-n-paste test suite

* disable failing namespace test tracked upstream

* various minor fixups

test_nodelet/CMakeLists.txt

@@ -13,7 +13,7 @@ if(CATKIN_ENABLE_TESTING)
   )
 
   #common commands for building c++ executables and libraries
-  add_library(${PROJECT_NAME} src/plus.cpp src/console_tests.cpp src/failing_nodelet.cpp)
+  add_library(${PROJECT_NAME} src/plus.cpp src/console_tests.cpp src/failing_nodelet.cpp src/nodehandles.cpp)
   target_link_libraries(${PROJECT_NAME} ${BOOST_LIBRARIES}
                                         ${catkin_LIBRARIES}
   )
@@ -32,6 +32,21 @@ if(CATKIN_ENABLE_TESTING)
   add_rostest(test/test_bond_break_on_shutdown.launch)
   add_rostest(test/test_unload_called_twice.launch)
 
+  add_rostest_gtest(test_nodehandles_different_namespaces
+                    test/test_nodehandles_different_namespaces.test
+                    test/test_nodehandles_different_namespaces.cpp)
+  target_link_libraries(test_nodehandles_different_namespaces ${catkin_LIBRARIES})
+
+  add_rostest_gtest(test_nodehandles_same_namespaces
+                    test/test_nodehandles_same_namespaces.test
+                    test/test_nodehandles_same_namespaces.cpp)
+  target_link_libraries(test_nodehandles_same_namespaces ${catkin_LIBRARIES})
+
+  add_rostest_gtest(test_nodehandles_manager_namespaced
+                    test/test_nodehandles_manager_namespaced.test
+                    test/test_nodehandles_manager_namespaced.cpp)
+  target_link_libraries(test_nodehandles_manager_namespaced ${catkin_LIBRARIES})
+
   # Not a real test. Tries to measure overhead of CallbackQueueManager.
   add_executable(benchmark src/benchmark.cpp)
   target_link_libraries(benchmark ${BOOST_LIBRARIES}

test_nodelet/src/nodehandles.cpp

@@ -0,0 +1,30 @@
+#include <nodelet/nodelet.h>
+#include <pluginlib/class_list_macros.h>
+#include <string>
+#include <ros/ros.h>
+#include <std_msgs/Bool.h>
+#include <std_msgs/Byte.h>
+#include <std_msgs/Time.h>
+
+namespace test_nodelet
+{
+
+class NodehandleTest : public nodelet::Nodelet
+{
+public:
+  NodehandleTest(){};
+  virtual void onInit()
+  {
+    ros::NodeHandle nh = this->getNodeHandle();
+    ros::NodeHandle pnh = this->getPrivateNodeHandle();
+    global_pub_ = nh.advertise<std_msgs::Time>("/global", 1000);
+    namespaced_pub_ = nh.advertise<std_msgs::Byte>("namespaced", 1000);
+    private_pub_ = pnh.advertise<std_msgs::Bool>("private", 1000);
+  }
+private:
+  ros::Publisher global_pub_, namespaced_pub_, private_pub_;
+};
+
+}  // namespace test_nodelet
+
+PLUGINLIB_EXPORT_CLASS(test_nodelet::NodehandleTest, nodelet::Nodelet);

test_nodelet/test/test_nodehandles_different_namespaces.cpp

@@ -0,0 +1,154 @@
+/*********************************************************************
+* test_nodehandles_different_namespaces.cpp
+*
+* Software License Agreement (BSD License)
+*
+*  Copyright (c) 2016, University of Patras
+*  All rights reserved.
+*
+*  Redistribution and use in source and binary forms, with or without
+*  modification, are permitted provided that the following conditions
+*  are met:
+*
+*   * Redistributions of source code must retain the above copyright
+*     notice, this list of conditions and the following disclaimer.
+*   * Redistributions in binary form must reproduce the above
+*     copyright notice, this list of conditions and the following
+*     disclaimer in the documentation and/or other materials provided
+*     with the distribution.
+*   * Neither the name of University of Patras nor the names of its
+*     contributors may be used to endorse or promote products derived
+*     from this software without specific prior written permission.
+*
+*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+*  POSSIBILITY OF SUCH DAMAGE.
+*
+* Authors: Aris Synodinos
+*********************************************************************/
+
+#include <gtest/gtest.h>
+#include <std_msgs/Bool.h>
+#include <std_msgs/Byte.h>
+#include <std_msgs/Empty.h>
+#include <std_msgs/String.h>
+#include <std_msgs/Float32.h>
+#include <std_msgs/Float64.h>
+#include <ros/ros.h>
+
+TEST(DifferentNamespaces, NodeletPrivateNodehandle) {
+  ros::NodeHandle nh;
+  ros::Duration(2).sleep();
+  ros::master::V_TopicInfo master_topics;
+  ros::master::getTopics(master_topics);
+  bool found_topic = false;
+
+  for (ros::master::V_TopicInfo::iterator it = master_topics.begin() ; it != master_topics.end(); it++) {
+    const ros::master::TopicInfo& info = *it;
+    if (info.datatype.compare("std_msgs/Bool") == 0) {
+      found_topic = true;
+      EXPECT_STREQ("/nodelet_namespace/nodehandle_test/private", info.name.c_str());
+    }
+  }
+  EXPECT_TRUE(found_topic);
+}
+
+TEST(DifferentNamespaces, NodeletNamespacedNodehandle) {
+  ros::NodeHandle nh;
+  ros::Duration(2).sleep();
+  ros::master::V_TopicInfo master_topics;
+  ros::master::getTopics(master_topics);
+  bool found_topic = false;
+
+  for (ros::master::V_TopicInfo::iterator it = master_topics.begin() ; it != master_topics.end(); it++) {
+    const ros::master::TopicInfo& info = *it;
+    if (info.datatype.compare("std_msgs/Byte") == 0) {
+      found_topic = true;
+      EXPECT_STREQ("/nodelet_namespace/namespaced", info.name.c_str());
+    }
+  }
+  EXPECT_TRUE(found_topic);
+}
+
+TEST(DifferentNamespaces, NodeletGlobalNodehandle) {
+  ros::NodeHandle nh;
+  ros::Duration(2).sleep();
+  ros::master::V_TopicInfo master_topics;
+  ros::master::getTopics(master_topics);
+  bool found_topic = false;
+
+  for (ros::master::V_TopicInfo::iterator it = master_topics.begin() ; it != master_topics.end(); it++) {
+    const ros::master::TopicInfo& info = *it;
+    if (info.datatype.compare("std_msgs/Time") == 0) {
+      found_topic = true;
+      EXPECT_STREQ("/global", info.name.c_str());
+    }
+  }
+  EXPECT_TRUE(found_topic);
+}
+
+TEST(DifferentNamespaces, NodePrivateNodehandle) {
+  ros::NodeHandle nh("~");
+  ros::Publisher pub = nh.advertise<std_msgs::Empty>("private", 10);
+  ros::master::V_TopicInfo master_topics;
+  ros::master::getTopics(master_topics);
+  bool found_topic = false;
+
+  for (ros::master::V_TopicInfo::iterator it = master_topics.begin() ; it != master_topics.end(); it++) {
+    const ros::master::TopicInfo& info = *it;
+    if (info.datatype.compare("std_msgs/Empty") == 0) {
+      found_topic = true;
+      EXPECT_STREQ("/test_namespace/test_nodehandles/private", info.name.c_str());
+    }
+  }
+  EXPECT_TRUE(found_topic);
+}
+
+TEST(DifferentNamespaces, NodeNamespacedNodehandle) {
+  ros::NodeHandle nh;
+  ros::Publisher pub = nh.advertise<std_msgs::String>("namespaced", 10);
+  ros::master::V_TopicInfo master_topics;
+  ros::master::getTopics(master_topics);
+  bool found_topic = false;
+
+  for (ros::master::V_TopicInfo::iterator it = master_topics.begin() ; it != master_topics.end(); it++) {
+    const ros::master::TopicInfo& info = *it;
+    if (info.datatype.compare("std_msgs/String") == 0) {
+      found_topic = true;
+      EXPECT_STREQ("/test_namespace/namespaced", info.name.c_str());
+    }
+  }
+  EXPECT_TRUE(found_topic);
+}
+
+TEST(DifferentNamespaces, NodeGlobalNodehandle) {
+  ros::NodeHandle nh;
+  ros::Publisher pub = nh.advertise<std_msgs::Float32>("/public", 10);
+  ros::master::V_TopicInfo master_topics;
+  ros::master::getTopics(master_topics);
+  bool found_topic = false;
+
+  for (ros::master::V_TopicInfo::iterator it = master_topics.begin() ; it != master_topics.end(); it++) {
+    const ros::master::TopicInfo& info = *it;
+    if (info.datatype.compare("std_msgs/Float32") == 0) {
+      found_topic = true;
+      EXPECT_STREQ("/public", info.name.c_str());
+    }
+  }
+  EXPECT_TRUE(found_topic);
+}
+
+int main(int argc, char **argv) {
+  testing::InitGoogleTest(&argc, argv);
+  ros::init(argc, argv, "test_nodehandles_different_namespaces");
+  return RUN_ALL_TESTS();
+}

test_nodelet/test/test_nodehandles_different_namespaces.test

@@ -0,0 +1,12 @@
+<?xml version="1.0"?>
+<launch>
+  <group ns="manager_namespace">
+    <node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager"/>
+  </group>
+  <group ns="nodelet_namespace">
+    <node pkg="nodelet" type="nodelet" name="nodehandle_test" args="load test_nodelet/NodehandleTest /manager_namespace/nodelet_manager"/>
+  </group>
+  <group ns="test_namespace">
+    <test test-name="test_nodehandles" pkg="test_nodelet" type="test_nodehandles_different_namespaces"/>
+  </group>
+</launch>

test_nodelet/test/test_nodehandles_manager_namespaced.cpp

@@ -0,0 +1,155 @@
+/*********************************************************************
+* test_nodehandles_same_namespaces.cpp
+*
+* Software License Agreement (BSD License)
+*
+*  Copyright (c) 2016, University of Patras
+*  All rights reserved.
+*
+*  Redistribution and use in source and binary forms, with or without
+*  modification, are permitted provided that the following conditions
+*  are met:
+*
+*   * Redistributions of source code must retain the above copyright
+*     notice, this list of conditions and the following disclaimer.
+*   * Redistributions in binary form must reproduce the above
+*     copyright notice, this list of conditions and the following
+*     disclaimer in the documentation and/or other materials provided
+*     with the distribution.
+*   * Neither the name of University of Patras nor the names of its
+*     contributors may be used to endorse or promote products derived
+*     from this software without specific prior written permission.
+*
+*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+*  POSSIBILITY OF SUCH DAMAGE.
+*
+* Authors: Aris Synodinos
+*********************************************************************/
+
+#include <gtest/gtest.h>
+#include <std_msgs/Bool.h>
+#include <std_msgs/Byte.h>
+#include <std_msgs/Empty.h>
+#include <std_msgs/String.h>
+#include <std_msgs/Float32.h>
+#include <ros/ros.h>
+
+TEST(ManagerNamespaced, NodeletPrivateNodehandle) {
+  ros::NodeHandle nh;
+  ros::Duration(2).sleep();
+  ros::master::V_TopicInfo master_topics;
+  ros::master::getTopics(master_topics);
+  bool found_topic = false;
+
+  for (ros::master::V_TopicInfo::iterator it = master_topics.begin() ; it != master_topics.end(); it++) {
+    const ros::master::TopicInfo& info = *it;
+    if (info.datatype.compare("std_msgs/Bool") == 0) {
+      found_topic = true;
+      EXPECT_STREQ("/nodehandle_test/private", info.name.c_str());
+    }
+  }
+  EXPECT_TRUE(found_topic);
+}
+
+// TODO(mikaelarguedas) reenable this once
+// https://github.com/ros/nodelet_core/issues/7 is fixed
+// TEST(ManagerNamespaced, NodeletNamespacedNodehandle) {
+//   ros::NodeHandle nh;
+//   ros::Duration(2).sleep();
+//   ros::master::V_TopicInfo master_topics;
+//   ros::master::getTopics(master_topics);
+//   bool found_topic = false;
+// 
+//   for (ros::master::V_TopicInfo::iterator it = master_topics.begin() ; it != master_topics.end(); it++) {
+//     const ros::master::TopicInfo& info = *it;
+//     if (info.datatype.compare("std_msgs/Byte") == 0) {
+//       found_topic = true;
+//       EXPECT_STREQ("/namespaced", info.name.c_str());
+//     }
+//   }
+//   EXPECT_TRUE(found_topic);
+// }
+
+TEST(ManagerNamespaced, NodeletGlobalNodehandle) {
+  ros::NodeHandle nh;
+  ros::Duration(2).sleep();
+  ros::master::V_TopicInfo master_topics;
+  ros::master::getTopics(master_topics);
+  bool found_topic = false;
+
+  for (ros::master::V_TopicInfo::iterator it = master_topics.begin() ; it != master_topics.end(); it++) {
+    const ros::master::TopicInfo& info = *it;
+    if (info.datatype.compare("std_msgs/Time") == 0) {
+      found_topic = true;
+      EXPECT_STREQ("/global", info.name.c_str());
+    }
+  }
+  EXPECT_TRUE(found_topic);
+}
+
+TEST(ManagerNamespaced, NodePrivateNodehandle) {
+  ros::NodeHandle nh("~");
+  ros::Publisher pub = nh.advertise<std_msgs::Empty>("private", 10);
+  ros::master::V_TopicInfo master_topics;
+  ros::master::getTopics(master_topics);
+  bool found_topic = false;
+
+  for (ros::master::V_TopicInfo::iterator it = master_topics.begin() ; it != master_topics.end(); it++) {
+    const ros::master::TopicInfo& info = *it;
+    if (info.datatype.compare("std_msgs/Empty") == 0) {
+      found_topic = true;
+      EXPECT_STREQ("/test_nodehandles/private", info.name.c_str());
+    }
+  }
+  EXPECT_TRUE(found_topic);
+}
+
+TEST(ManagerNamespaced, NodeNamespacedNodehandle) {
+  ros::NodeHandle nh;
+  ros::Publisher pub = nh.advertise<std_msgs::String>("namespaced", 10);
+  ros::master::V_TopicInfo master_topics;
+  ros::master::getTopics(master_topics);
+  bool found_topic = false;
+
+  for (ros::master::V_TopicInfo::iterator it = master_topics.begin() ; it != master_topics.end(); it++) {
+    const ros::master::TopicInfo& info = *it;
+    if (info.datatype.compare("std_msgs/String") == 0) {
+      found_topic = true;
+      EXPECT_STREQ("/namespaced", info.name.c_str());
+    }
+  }
+  EXPECT_TRUE(found_topic);
+}
+
+TEST(ManagerNamespaced, NodeGlobalNodehandle) {
+  ros::NodeHandle nh;
+  ros::Publisher pub = nh.advertise<std_msgs::Float32>("/public", 10);
+  ros::master::V_TopicInfo master_topics;
+  ros::master::getTopics(master_topics);
+  bool found_topic = false;
+
+  for (ros::master::V_TopicInfo::iterator it = master_topics.begin() ; it != master_topics.end(); it++) {
+    const ros::master::TopicInfo& info = *it;
+    if (info.datatype.compare("std_msgs/Float32") == 0) {
+      found_topic = true;
+      EXPECT_STREQ("/public", info.name.c_str());
+    }
+  }
+  EXPECT_TRUE(found_topic);
+}
+
+int main(int argc, char **argv) {
+  testing::InitGoogleTest(&argc, argv);
+  ros::init(argc, argv, "test_nodehandles_manager_namespaced");
+  return RUN_ALL_TESTS();
+}

test_nodelet/test/test_nodehandles_manager_namespaced.test

@@ -0,0 +1,9 @@
+<?xml version="1.0"?>
+<launch>
+  <group ns="manager_namespace">
+    <node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager"/>
+  </group>
+
+  <node pkg="nodelet" type="nodelet" name="nodehandle_test" args="load test_nodelet/NodehandleTest manager_namespace/nodelet_manager"/>
+  <test test-name="test_nodehandles" pkg="test_nodelet" type="test_nodehandles_manager_namespaced"/>
+</launch>