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feat(global_parameter_loader): add gtest of global-parameter-loader
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Signed-off-by: Cynthia Liu <[email protected]>
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cyn-liu committed Sep 18, 2023
1 parent 43e9246 commit 7a341d8
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5 changes: 5 additions & 0 deletions common/global_parameter_loader/CMakeLists.txt
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Expand Up @@ -4,6 +4,11 @@ project(global_parameter_loader)
find_package(autoware_cmake REQUIRED)
autoware_package()

if(BUILD_TESTING)
file(GLOB_RECURSE test_files test/*.cpp)
ament_add_ros_isolated_gtest(test_global_params_launch ${test_files})
endif()

ament_auto_package(
INSTALL_TO_SHARE
launch
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1 change: 1 addition & 0 deletions common/global_parameter_loader/package.xml
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Expand Up @@ -12,6 +12,7 @@

<exec_depend>vehicle_info_util</exec_depend>

<test_depend>ament_cmake_ros</test_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>autoware_lint_common</test_depend>

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43 changes: 43 additions & 0 deletions common/global_parameter_loader/test/test_global_params_launch.cpp
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// Copyright 2023 The Autoware Foundation
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#include <gtest/gtest.h>
#include <cstdlib>
#include <iostream>
#include <string>

TEST(TestLaunchFile, test_launch_file)
{
// Define the path of Python launch file
std::string global_params_launch_path = "global_params.launch.py";

// Define the parameters you want to pass to the launch file
std::string use_sim_time_param = "false";
std::string vehicle_model_param = "sample_vehicle";
// Construct the command to run the Python launch script with parameters
std::string command = "ros2 launch global_parameter_loader " + global_params_launch_path +
" use_sim_time:=" + use_sim_time_param +
" vehicle_model:=" + vehicle_model_param;

// Use the system() function to execute the command
int result = std::system(command.c_str());
// Check the result of running the launch file
EXPECT_EQ(result, 0);
}

int main(int argc, char * argv[])
{
testing::InitGoogleTest(&argc, argv);
return RUN_ALL_TESTS();
}

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