From b92230688ecba6fabb60a63eaa415be61ce539d8 Mon Sep 17 00:00:00 2001
From: "Isaac I.Y. Saito" <130s@2000.jukuin.keio.ac.jp>
Date: Thu, 17 Dec 2015 03:06:52 -0800
Subject: [PATCH] [ros_bridge] Add test to ensure if model is loaded. Remove
 install rule that's no longer valid.

---
 nextage_ros_bridge/CMakeLists.txt      |  2 +-
 nextage_ros_bridge/test/ros_model.test | 29 ++++++++++++++++++++++++++
 2 files changed, 30 insertions(+), 1 deletion(-)
 create mode 100644 nextage_ros_bridge/test/ros_model.test

diff --git a/nextage_ros_bridge/CMakeLists.txt b/nextage_ros_bridge/CMakeLists.txt
index 6fbb092c..b4527fc6 100644
--- a/nextage_ros_bridge/CMakeLists.txt
+++ b/nextage_ros_bridge/CMakeLists.txt
@@ -87,7 +87,6 @@ add_custom_target(${PROJECT_NAME}_model_files ALL DEPENDS ${PROJECT_SOURCE_DIR}/
 install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
 install(DIRECTORY script DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} USE_SOURCE_PERMISSIONS)
 install(DIRECTORY conf DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} PATTERN "*.in" EXCLUDE)
-install(DIRECTORY models DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
 #install(DIRECTORY test DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} USE_SOURCE_PERMISSIONS)
 
 install(CODE "
@@ -118,3 +117,4 @@ install(DIRECTORY test
   USE_SOURCE_PERMISSIONS)
 
 add_rostest(test/nxo.test)
+add_rostest(test/ros_model.test)
diff --git a/nextage_ros_bridge/test/ros_model.test b/nextage_ros_bridge/test/ros_model.test
new file mode 100644
index 00000000..f782a1ad
--- /dev/null
+++ b/nextage_ros_bridge/test/ros_model.test
@@ -0,0 +1,29 @@
+<launch>
+  <!-- This .test is to check joint status, which indirectly ensures if model is successfully loaded. -->
+
+  <arg name="COLLADA_FILE" default="$(find nextage_description)/models/main.dae" />
+  <arg name="corbaport" default="2809" />
+  <arg name="GUI" default='false' />
+  <arg name="VRML_FILE" default="$(find nextage_description)/models/main.wrl" />
+
+  <!-- Define name for testing model availability at runtime -->
+  <arg name="TESTNAME_ENSURE_MODEL" default="hz_joints" />       
+
+  <!-- See https://github.com/start-jsk/rtmros_common/issues/416#issuecomment-46846623 -->
+  <node name="start_omninames" pkg="rtmbuild" type="start_omninames.sh"
+        args="$(arg corbaport)" />
+ 
+  <include file="$(find nextage_ros_bridge)/launch/nextage_ros_bridge_simulation.launch" >
+    <arg name="COLLADA_FILE" value="$(arg COLLADA_FILE)" />
+    <arg name="CORBAPORT" value="$(arg corbaport)" />
+    <arg name="GUI" value="$(arg GUI)" />
+    <arg name="MODEL_FILE" value="$(arg VRML_FILE)" />
+  </include>         
+
+  <param name="$(arg TESTNAME_ENSURE_MODEL)/hz" value="200.0" />
+  <param name="$(arg TESTNAME_ENSURE_MODEL)/hzerror" value="5.0" />
+  <param name="$(arg TESTNAME_ENSURE_MODEL)/test_duration" value="10.0" />
+  <param name="$(arg TESTNAME_ENSURE_MODEL)/topic" value="joint_states" />
+  <param name="$(arg TESTNAME_ENSURE_MODEL)/wait_time" value="30.0" />
+  <test pkg="rostest" type="hztest" name="$(arg TESTNAME_ENSURE_MODEL)" test-name="test_$(arg TESTNAME_ENSURE_MODEL)" />   
+</launch>