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Adding a unit test and fixing the player to parse ros command line opts

This commit is contained in:
Jeremy Leibs 2010-06-09 21:16:35 +00:00
parent 31aa377728
commit 912419a9a9
5 changed files with 25 additions and 3 deletions
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4
tools/rosbag/CMakeLists.txt
View File

@ -32,8 +32,12 @@ INSTALL(TARGETS record play
rosbuild_download_test_data(http://pr.willowgarage.com/data/rosbag/slash.bag test/slash.bag 422e90f34482ece900fd2ac5d4f002de)
rosbuild_download_test_data(http://pr.willowgarage.com/data/rosbag/test_indexed_1.2.bag test/test_indexed_1.2.bag 523cc0deb66269c84be4a7c605ff5eb3)
rosbuild_download_test_data(http://pr.willowgarage.com/data/rosbag/chatter_50hz.bag test/chatter_50hz.bag 00844db3729b1b5f34e767dc691bd531)
rosbuild_add_gtest(test_bag test/test_bag.cpp)
target_link_libraries(test_bag rosbag)
rosbuild_add_rostest(test/rosbag_play.test)
rosbuild_add_rostest(test/play_play.test)
rosbuild_add_pyunit(test/test_bag.py)

4
tools/rosbag/src/play.cpp
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@ -84,6 +84,8 @@ rosbag::PlayerOptions parseOptions(int argc, char** argv) {
}
int main(int argc, char** argv) {
ros::init(argc, argv, "play", ros::init_options::AnonymousName);
// Parse the command-line options
rosbag::PlayerOptions opts;
try {
@ -94,8 +96,6 @@ int main(int argc, char** argv) {
return 1;
}
ros::init(argc, argv, "play", ros::init_options::AnonymousName);
rosbag::Player player(opts);
try {

2
tools/rosbag/src/player.cpp
View File

@ -64,7 +64,7 @@ PlayerOptions::PlayerOptions() :
bag_time_frequency(0.0),
time_scale(1.0),
queue_size(0),
advertise_sleep(200000),
advertise_sleep(0.2),
try_future(false),
has_time(false),
loop(false),

9
tools/rosbag/test/play_play.test Normal file
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@ -0,0 +1,9 @@
<launch>
<node name="player" pkg="rosbag" type="play" args="$(find rosbag)/test/chatter_50hz.bag"/>
<test test-name="play_hztest" pkg="rostest" type="hztest">
<param name="topic" value="chatter"/>
<param name="hz" value="50.0"/>
<param name="hzerror" value="5"/>
<param name="test_duration" value="7.0" />
</test>
</launch>

9
tools/rosbag/test/rosbag_play.test Normal file
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@ -0,0 +1,9 @@
<launch>
<node name="player" pkg="rosbag" type="rosbag" args="play $(find rosbag)/test/chatter_50hz.bag"/>
<test test-name="rosbag_play_hztest" pkg="rostest" type="hztest">
<param name="topic" value="chatter"/>
<param name="hz" value="50.0"/>
<param name="hzerror" value="5"/>
<param name="test_duration" value="7.0" />
</test>
</launch>