Composition tests working

Signed-off-by: Patrick Roncagliolo <[email protected]>
ros2 · Nov 14, 2023 · 0aa4cd5 · 0aa4cd5
1 parent 6287cd6
commit 0aa4cd5
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Showing 2 changed files with 28 additions and 5 deletions.
diff --git a/rosbag2_transport/test/resources/params_player.yaml b/rosbag2_transport/test/resources/params_player.yaml
@@ -1,13 +1,12 @@
 player_params_node:
   ros__parameters:
-    test: true
     read_ahead_queue_size: 3
     node_prefix: "test"
     rate: 13.0
     topics_to_filter: ["/foo", "/bar"]
     topics_regex_to_filter: "[xyz]/topic"
     topics_regex_to_exclude: "[abc]/topic"
-    loop: true
+    loop: false
     clock_publish_frequency: 19.0
     clock_publish_on_topic_publish: true
     clock_trigger_topics: ["/triggers/clock"]

diff --git a/rosbag2_transport/test/rosbag2_transport/test_load_components.cpp b/rosbag2_transport/test/rosbag2_transport/test_load_components.cpp
@@ -55,11 +55,24 @@ TEST_F(TestComponentManager, test_load_components)
   }
 
   {
-
-    rclcpp::parameter_map_from_yaml_file();
+    std::string path{_SRC_RESOURCES_DIR_PATH "/params_player.yaml"};
+    auto pm = rclcpp::parameter_map_from_yaml_file(path);
+    auto pl = rclcpp::parameters_from_map(pm, "/player_params_node");
     auto request = std::make_shared<composition_interfaces::srv::LoadNode::Request>();
     request->package_name = "rosbag2_transport";
     request->plugin_name = "rosbag2_transport::Player";
+    for (auto p: pl){
+      request->parameters.push_back(p.to_parameter_msg());
+    }
+
+    rclcpp::Parameter qos_profile_overrides_path("qos_profile_overrides_path",
+      rclcpp::ParameterValue(_SRC_RESOURCES_DIR_PATH "/overrides.yaml"));
+
+    rclcpp::Parameter uri("uri",
+      rclcpp::ParameterValue(_SRC_RESOURCES_DIR_PATH "//sqlite3/test_bag_for_seek"));
+
+    request->parameters.push_back(qos_profile_overrides_path.to_parameter_msg());
+    request->parameters.push_back(uri.to_parameter_msg());
 
     auto future = composition_client->async_send_request(request);
     auto ret = exec->spin_until_future_complete(future, 5s);  // Wait for the result.
@@ -72,9 +85,20 @@ TEST_F(TestComponentManager, test_load_components)
   }
 
   {
+    std::string path{_SRC_RESOURCES_DIR_PATH "/params_recorder.yaml"};
+    auto pm = rclcpp::parameter_map_from_yaml_file(path);
+    auto pl = rclcpp::parameters_from_map(pm, "/recorder_params_node");
     auto request = std::make_shared<composition_interfaces::srv::LoadNode::Request>();
     request->package_name = "rosbag2_transport";
     request->plugin_name = "rosbag2_transport::Recorder";
+    for (auto p: pl){
+      request->parameters.push_back(p.to_parameter_msg());
+    }
+
+    rclcpp::Parameter qos_profile_overrides_path("qos_profile_overrides_path",
+      rclcpp::ParameterValue(_SRC_RESOURCES_DIR_PATH "/overrides.yaml"));
+
+    request->parameters.push_back(qos_profile_overrides_path.to_parameter_msg());
 
     auto future = composition_client->async_send_request(request);
     auto ret = exec->spin_until_future_complete(future, 5s);  // Wait for the result.
@@ -83,6 +107,6 @@ TEST_F(TestComponentManager, test_load_components)
     EXPECT_EQ(result->success, true);
     EXPECT_EQ(result->error_message, "");
     EXPECT_EQ(result->full_node_name, "/rosbag2_recorder");
-    EXPECT_EQ(result->unique_id, 1u);
+    EXPECT_EQ(result->unique_id, 2u);
   }
 }