Test nodelet_add_executable

ros · Sep 29, 2016 · 528c0e5 · 528c0e5
1 parent 086bd5a
commit 528c0e5
Show file tree

Hide file tree

Showing 2 changed files with 29 additions and 0 deletions.
diff --git a/test_nodelet/CMakeLists.txt b/test_nodelet/CMakeLists.txt
@@ -18,6 +18,10 @@ if(CATKIN_ENABLE_TESTING)
                                         ${catkin_LIBRARIES}
   )
 
+  # Test nodelet executable
+  nodelet_add_executable(plus test_nodelet/Plus)
+  add_rostest(test_nodelet_executable.launch)
+
   add_rostest(test_local.launch)
   add_rostest(test_loader.launch)
 

diff --git a/test_nodelet/test_nodelet_executable.launch b/test_nodelet/test_nodelet_executable.launch
@@ -0,0 +1,25 @@
+<launch>
+  <node name="Plus"
+        pkg="test_nodelet" type="plus">
+    <param name="value" type="double" value="2.1"/>
+  </node>
+
+  <node name="plus_remap"
+        pkg="test_nodelet" type="plus">
+    <param name="value" type="double" value="2.1"/>
+    <remap from="~out" to="remapped_output"/>
+  </node>
+
+  <node name="Plus2"
+        pkg="test_nodelet" type="plus">
+    <rosparam file="$(find test_nodelet)/plus_default.yaml"/>
+  </node>
+
+  <node name="Plus3" pkg="test_nodelet" type="plus">
+    <param name="value" type="double" value="2.5"/>
+    <remap from="~in" to="Plus2/out"/>
+  </node>
+
+  <test test-name="plus_local"
+        pkg="test_nodelet" type="plus_local.py" />
+</launch>