Expect declared parameters + use_sim_time

Author: sloretz

test_rclcpp/test/parameter_fixtures.hpp

@@ -27,6 +27,17 @@
 
 const double test_epsilon = 1e-6;
 
+void declare_test_parameters(std::shared_ptr<rclcpp::Node> node)
+{
+  node->create_parameter("foo");
+  node->create_parameter("bar");
+  node->create_parameter("barstr");
+  node->create_parameter("baz");
+  node->create_parameter("foo.first");
+  node->create_parameter("foo.second");
+  node->create_parameter("foobar");
+}
+
 void set_test_parameters(
   std::shared_ptr<rclcpp::SyncParametersClient> parameters_client)
 {
@@ -141,7 +152,7 @@ void verify_test_parameters(
   parameters_and_prefixes = parameters_client->list_parameters({},
       rcl_interfaces::srv::ListParameters::Request::DEPTH_RECURSIVE);
   std::vector<std::string> all_names = {
-    "foo", "bar", "barstr", "baz", "foo.first", "foo.second", "foobar"
+    "foo", "bar", "barstr", "baz", "foo.first", "foo.second", "foobar", "use_sim_time"
   };
   EXPECT_EQ(parameters_and_prefixes.names.size(), all_names.size());
   for (auto & name : all_names) {
@@ -164,9 +175,9 @@ void verify_test_parameters(
   }
   printf("Listing parameters with depth 1\n");
   // List most of the parameters, using an empty prefix list and depth=1
-  parameters_and_prefixes = parameters_client->list_parameters({}, 1);
+  parameters_and_prefixes = parameters_client->list_parameters({}, 1u);
   std::vector<std::string> depth_one_names = {
-    "foo", "bar", "barstr", "baz", "foobar"
+    "foo", "bar", "barstr", "baz", "foobar", "use_sim_time"
   };
   EXPECT_EQ(parameters_and_prefixes.names.size(), depth_one_names.size());
   for (auto & name : depth_one_names) {
@@ -259,7 +270,7 @@ void verify_get_parameters_async(
   rclcpp::spin_until_future_complete(node, result5);
   parameters_and_prefixes = result5.get();
   std::vector<std::string> all_names = {
-    "foo", "bar", "barstr", "baz", "foo.first", "foo.second", "foobar"
+    "foo", "bar", "barstr", "baz", "foo.first", "foo.second", "foobar", "use_sim_time"
   };
   EXPECT_EQ(parameters_and_prefixes.names.size(), all_names.size());
   for (auto & name : all_names) {

test_rclcpp/test/test_local_parameters.cpp

@@ -66,6 +66,7 @@ TEST(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), to_string) {
 
 TEST(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), local_synchronous) {
   auto node = rclcpp::Node::make_shared("test_parameters_local_synchronous");
+  declare_test_parameters(node);
   auto parameters_client = std::make_shared<rclcpp::SyncParametersClient>(node);
   if (!parameters_client->wait_for_service(20s)) {
     ASSERT_TRUE(false) << "service not available after waiting";
@@ -76,6 +77,7 @@ TEST(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), local_synchronous) {
 
 TEST(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), local_synchronous_repeated) {
   auto node = rclcpp::Node::make_shared("test_parameters_local_synchronous_repeated");
+  declare_test_parameters(node);
   auto parameters_client = std::make_shared<rclcpp::SyncParametersClient>(node);
   if (!parameters_client->wait_for_service(20s)) {
     ASSERT_TRUE(false) << "service not available after waiting";
@@ -89,6 +91,7 @@ TEST(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), local_synchronous_rep
 
 TEST(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), local_asynchronous) {
   auto node = rclcpp::Node::make_shared(std::string("test_parameters_local_asynchronous"));
+  declare_test_parameters(node);
   auto parameters_client = std::make_shared<rclcpp::AsyncParametersClient>(node);
   if (!parameters_client->wait_for_service(20s)) {
     ASSERT_TRUE(false) << "service not available after waiting";
@@ -103,6 +106,13 @@ class ParametersAsyncNode : public rclcpp::Node
   ParametersAsyncNode()
   : Node("test_local_parameters_async_with_callback")
   {
+    this->create_parameter("foo");
+    this->create_parameter("bar");
+    this->create_parameter("barstr");
+    this->create_parameter("baz");
+    this->create_parameter("foobar");
+    this->create_parameter("barfoo");
+
     parameters_client_ =
       std::make_shared<rclcpp::AsyncParametersClient>(this);
   }
@@ -151,6 +161,13 @@ TEST(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), local_async_with_call
 
 TEST(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), helpers) {
   auto node = rclcpp::Node::make_shared("test_parameters_local_helpers");
+  node->create_parameter("foo");
+  node->create_parameter("bar");
+  node->create_parameter("barstr");
+  node->create_parameter("baz");
+  node->create_parameter("foobar");
+  node->create_parameter("barfoo");
+
   auto parameters_client = std::make_shared<rclcpp::SyncParametersClient>(node);
   if (!parameters_client->wait_for_service(20s)) {
     ASSERT_TRUE(false) << "service not available after waiting";
@@ -260,6 +277,13 @@ TEST(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), helpers) {
 
 TEST(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), get_from_node_primitive_type) {
   auto node = rclcpp::Node::make_shared("test_parameters_local_helpers");
+  node->create_parameter("foo");
+  node->create_parameter("bar");
+  node->create_parameter("barstr");
+  node->create_parameter("baz");
+  node->create_parameter("foobar");
+  node->create_parameter("barfoo");
+
   auto parameters_client = std::make_shared<rclcpp::SyncParametersClient>(node);
   if (!parameters_client->wait_for_service(20s)) {
     ASSERT_TRUE(false) << "service not available after waiting";
@@ -325,6 +349,13 @@ TEST(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), get_from_node_variant
   using rclcpp::Parameter;
 
   auto node = rclcpp::Node::make_shared("test_parameters_local_helpers");
+  node->create_parameter("foo");
+  node->create_parameter("bar");
+  node->create_parameter("barstr");
+  node->create_parameter("baz");
+  node->create_parameter("foobar");
+  node->create_parameter("barfoo");
+
   auto parameters_client = std::make_shared<rclcpp::SyncParametersClient>(node);
   if (!parameters_client->wait_for_service(20s)) {
     ASSERT_TRUE(false) << "service not available after waiting";
@@ -382,6 +413,7 @@ TEST(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), get_parameter_or) {
   using rclcpp::Parameter;
 
   auto node = rclcpp::Node::make_shared("test_parameters_get_parameter_or");
+  node->create_parameter("foo");
   auto set_parameters_results = node->set_parameters({
     Parameter("foo", 2),
   });
@@ -418,6 +450,9 @@ TEST(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), set_parameter_if_not_
   using rclcpp::Parameter;
 
   auto node = rclcpp::Node::make_shared("test_parameters_set_parameter_if_not_set");
+  node->create_parameter("foo");
+  node->create_parameter("bar");
+
   auto set_parameters_results = node->set_parameters({
     Parameter("foo", 2),
   });

test_rclcpp/test/test_parameters_server.cpp

@@ -17,6 +17,7 @@
 #include <memory>
 #include <stdexcept>
 #include <string>
+#include <vector>
 
 #include "rclcpp/rclcpp.hpp"
 
@@ -25,7 +26,20 @@ int main(int argc, char ** argv)
 {
   rclcpp::init(argc, argv);
 
-  auto node = rclcpp::Node::make_shared(std::string("test_parameters_server"));
+  const std::string node_name = "test_parameters_server";
+  const std::string namespace_ = "/";
+  rclcpp::Context::SharedPtr context =
+    rclcpp::contexts::default_context::get_global_default_context();
+  const std::vector<std::string> arguments = {};
+  const std::vector<rclcpp::Parameter> initial_parameters = {};
+  const bool use_global_arguments = true;
+  const bool use_intra_process_comms = false;
+  const bool start_parameter_services = true;
+  const bool allow_undeclared_parameters = true;
+
+  auto node = rclcpp::Node::make_shared(node_name, namespace_, context, arguments,
+      initial_parameters, use_global_arguments, use_intra_process_comms, start_parameter_services,
+      allow_undeclared_parameters);
 
   rclcpp::spin(node);