/* Try to retrieve the map via service, and compare to ground truth */
TEST_F (MapClientTest, call_service)
{
nav_msgs::GetMap::Request req;
nav_msgs::GetMap::Response resp;
ASSERT_TRUE (ros::service::waitForService ("dynamic_map", 5000));
ASSERT_TRUE (ros::service::call ("dynamic_map", req, resp));
checkMapMetaData (resp.map.info);
checkMapData (resp.map);
}
/* Try to retrieve the map via topic, and compare to ground truth */
TEST_F(MapClientTest, subscribe_topic)
{
ros::Subscriber sub = g_n->subscribe<nav_msgs::OccupancyGrid>("map", 1, boost::bind(&MapClientTest::mapCallback, this, _1));
// Try a few times, because the server may not be up yet.
int i=20;
while(!got_map_ && i > 0)
{
ros::spinOnce();
ros::WallDuration d(0.25);
d.sleep();
i--;
}
ASSERT_TRUE(got_map_);
checkMapMetaData(map_->info);
checkMapData(*(map_.get()));
}
