Exemplo n.º 1
0
/* 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);
}
Exemplo n.º 2
0
/* Try to retrieve the metadata via topic, and compare to ground truth */
TEST_F(MapClientTest, subscribe_topic_metadata)
{
  ros::Subscriber sub = g_n->subscribe<nav_msgs::MapMetaData>("map_metadata", 1, boost::bind(&MapClientTest::mapMetaDataCallback, this, _1));

  // Try a few times, because the server may not be up yet.
  int i=20;
  while(!got_map_metadata_ && i > 0)
  {
    ros::spinOnce();
    ros::WallDuration d(0.25);
    d.sleep();
    i--;
  }
  ASSERT_TRUE(got_map_metadata_);
  checkMapMetaData(*(map_metadata_.get()));
}