Test that nodes are returned with correct multiplicity (#598)

Signed-off-by: Dan Rose <dan@digilabs.io>
ros2 · Mar 13, 2020 · 00f3acc · 00f3acc
1 parent 069d1f0
commit 00f3acc
Showing 1 changed file with 10 additions and 1 deletion.
diff --git a/rcl/test/rcl/test_get_node_names.cpp b/rcl/test/rcl/test_get_node_names.cpp
@@ -67,7 +67,7 @@ TEST_F(CLASSNAME(TestGetNodeNames, RMW_IMPLEMENTATION), test_rcl_get_node_names)
     EXPECT_EQ(RCL_RET_OK, rcl_shutdown(&context)) << rcl_get_error_string().str;
     EXPECT_EQ(RCL_RET_OK, rcl_context_fini(&context)) << rcl_get_error_string().str;
   });
-  std::set<std::pair<std::string, std::string>> expected_nodes, discovered_nodes;
+  std::multiset<std::pair<std::string, std::string>> expected_nodes, discovered_nodes;
 
   auto node1_ptr = new rcl_node_t;
   *node1_ptr = rcl_get_zero_initialized_node();
@@ -105,6 +105,15 @@ TEST_F(CLASSNAME(TestGetNodeNames, RMW_IMPLEMENTATION), test_rcl_get_node_names)
   ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
   expected_nodes.insert(std::make_pair(std::string(node4_name), std::string(node4_namespace)));
 
+  auto node5_ptr = new rcl_node_t;
+  *node5_ptr = rcl_get_zero_initialized_node();
+  const char * node5_name = "node1";
+  const char * node5_namespace = "/";
+  rcl_node_options_t node5_options = rcl_node_get_default_options();
+  ret = rcl_node_init(node5_ptr, node5_name, node5_namespace, &context, &node5_options);
+  ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  expected_nodes.insert(std::make_pair(std::string(node5_name), std::string(node5_namespace)));
+
   std::this_thread::sleep_for(1s);
 
   rcutils_string_array_t node_names = rcutils_get_zero_initialized_string_array();