adding CLI test (ros-navigation#1920)

Author: SteveMacenski

nav2_map_server/test/CMakeLists.txt

@@ -5,3 +5,4 @@ add_definitions( -DTEST_DIRECTORY=\"${CMAKE_CURRENT_SOURCE_DIR}\")
 
 add_subdirectory(unit)
 add_subdirectory(component)
+add_subdirectory(map_saver_cli)

nav2_map_server/test/map_saver_cli/CMakeLists.txt

@@ -0,0 +1,13 @@
+include_directories(${PROJECT_SOURCE_DIR}/test)
+
+# map_saver CLI
+ament_add_gtest(test_map_saver_cli
+  test_map_saver_cli.cpp
+  ${PROJECT_SOURCE_DIR}/test/test_constants.cpp
+)
+
+ament_target_dependencies(test_map_saver_cli rclcpp nav_msgs)
+target_link_libraries(test_map_saver_cli
+  stdc++fs
+  ${dependencies}
+)

nav2_map_server/test/map_saver_cli/test_map_saver_cli.cpp

@@ -0,0 +1,99 @@
+// Copyright (c) 2020 Samsung Research America
+//
+// 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 <experimental/filesystem>
+#include <string>
+#include <memory>
+#include <utility>
+
+#include "rclcpp/rclcpp.hpp"
+#include "nav_msgs/msg/occupancy_grid.hpp"
+
+TEST(MapSaverCLI, CLITest)
+{
+  std::string path = "/tmp/";
+  std::string file = "test_map";
+  std::string file_path = path + file;
+
+  rclcpp::init(0, nullptr);
+
+  auto node = std::make_shared<rclcpp::Node>("CLI_Test_Node");
+  RCLCPP_INFO(node->get_logger(), "Testing Map Saver CLI");
+
+  auto publisher = node->create_publisher<nav_msgs::msg::OccupancyGrid>(
+    "/map",
+    rclcpp::QoS(rclcpp::KeepLast(1)).transient_local().reliable());
+
+  auto msg = std::make_unique<nav_msgs::msg::OccupancyGrid>();
+  msg->header.frame_id = "map";
+  msg->header.stamp = node->now();
+  msg->info.map_load_time = node->now();
+  msg->info.resolution = 0.05;
+  msg->info.width = 3;
+  msg->info.height = 3;
+  msg->info.origin.position.x = 0.0;
+  msg->info.origin.position.y = 0.0;
+  msg->info.origin.orientation.w = 1.0;
+  msg->data.resize(9);
+
+  RCLCPP_INFO(node->get_logger(), "Publishing occupancy grid...");
+
+  publisher->publish(std::move(msg));
+
+  rclcpp::Rate(1).sleep();
+
+  // succeed on real map
+  RCLCPP_INFO(node->get_logger(), "Calling saver...");
+
+  EXPECT_FALSE(std::experimental::filesystem::exists(file_path + ".yaml"));
+
+  std::string command =
+    std::string(
+    "ros2 run nav2_map_server map_saver_cli -f ") + file_path;
+  auto return_code = system(command.c_str());
+  EXPECT_EQ(return_code, 0);
+
+  rclcpp::Rate(0.25).sleep();
+
+  RCLCPP_INFO(node->get_logger(), "Checking on file...");
+
+  EXPECT_TRUE(std::experimental::filesystem::exists(file_path + ".pgm"));
+  EXPECT_EQ(std::experimental::filesystem::file_size(file_path + ".pgm"), 20ul);
+
+  if (std::experimental::filesystem::exists(file_path + ".yaml")) {
+    std::experimental::filesystem::remove(file_path + ".yaml");
+  }
+  if (std::experimental::filesystem::exists(file_path + ".pgm")) {
+    std::experimental::filesystem::remove(file_path + ".pgm");
+  }
+
+  // fail on bogus map
+  RCLCPP_INFO(node->get_logger(), "Calling saver...");
+
+  EXPECT_FALSE(std::experimental::filesystem::exists(file_path + ".yaml"));
+
+  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;
+  return_code = system(command.c_str());
+  EXPECT_EQ(return_code, 256);
+
+  rclcpp::Rate(0.25).sleep();
+
+  RCLCPP_INFO(node->get_logger(), "Checking on file...");
+
+  EXPECT_FALSE(std::experimental::filesystem::exists(file_path + ".yaml"));
+}