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More coverage in map server tests #1921

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Merged
SteveMacenski merged 3 commits into from
Aug 7, 2020
Merged

More coverage in map server tests #1921

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ba6da5a
adding CLI test
SteveMacenski Aug 7, 2020
3f16bc8
Merge branch 'master' of github.com:ros-planning/navigation2
SteveMacenski Aug 7, 2020
1d7ef3d
adding a bunch of new coverages for map_server
SteveMacenski Aug 7, 2020
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33 changes: 31 additions & 2 deletions nav2_map_server/test/map_saver_cli/test_map_saver_cli.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -87,13 +87,42 @@ TEST(MapSaverCLI, CLITest)
command =
std::string(
"ros2 run nav2_map_server map_saver_cli "
"-t map_failure --occ 100 --free 2 --mode trinary --fmt png -f ") + file_path;
"-t map_failure --occ 100 --free 2 --mode trinary --fmt png -f ") + file_path +
std::string("--ros-args __node:=map_saver_test_node");
return_code = system(command.c_str());
EXPECT_EQ(return_code, 256);
EXPECT_EQ(return_code, 65280);

rclcpp::Rate(0.25).sleep();

RCLCPP_INFO(node->get_logger(), "Checking on file...");

EXPECT_FALSE(std::experimental::filesystem::exists(file_path + ".yaml"));

RCLCPP_INFO(node->get_logger(), "Testing help...");
command =
std::string(
"ros2 run nav2_map_server map_saver_cli -h");
return_code = system(command.c_str());
EXPECT_EQ(return_code, 0);

RCLCPP_INFO(node->get_logger(), "Testing invalid mode...");
command =
std::string(
"ros2 run nav2_map_server map_saver_cli --mode fake_mode");
return_code = system(command.c_str());
EXPECT_EQ(return_code, 0);

RCLCPP_INFO(node->get_logger(), "Testing missing argument...");
command =
std::string(
"ros2 run nav2_map_server map_saver_cli --mode");
return_code = system(command.c_str());
EXPECT_EQ(return_code, 65280);

RCLCPP_INFO(node->get_logger(), "Testing wrong argument...");
command =
std::string(
"ros2 run nav2_map_server map_saver_cli --free 0 0");
return_code = system(command.c_str());
EXPECT_EQ(return_code, 65280);
}