From a38ed953f6f3c54bc334de11e7f7d6434cad0ce9 Mon Sep 17 00:00:00 2001 From: rafal-gorecki Date: Fri, 26 Apr 2024 11:21:24 +0200 Subject: [PATCH] Add namespace --- .../test/test_imu_sensor_broadcaster.cpp | 8 ++++---- .../test/test_imu_sensor_broadcaster.hpp | 4 ++-- 2 files changed, 6 insertions(+), 6 deletions(-) diff --git a/imu_sensor_broadcaster/test/test_imu_sensor_broadcaster.cpp b/imu_sensor_broadcaster/test/test_imu_sensor_broadcaster.cpp index 65e429e075..f595b7406e 100644 --- a/imu_sensor_broadcaster/test/test_imu_sensor_broadcaster.cpp +++ b/imu_sensor_broadcaster/test/test_imu_sensor_broadcaster.cpp @@ -53,10 +53,10 @@ void IMUSensorBroadcasterTest::SetUp() void IMUSensorBroadcasterTest::TearDown() { imu_broadcaster_.reset(nullptr); } -void IMUSensorBroadcasterTest::SetUpIMUBroadcaster() +void IMUSensorBroadcasterTest::SetUpIMUBroadcaster(const std::string & ns) { const auto result = imu_broadcaster_->init( - "test_imu_sensor_broadcaster", "", 0, "", imu_broadcaster_->define_custom_node_options()); + "test_imu_sensor_broadcaster", ns, 0, "", imu_broadcaster_->define_custom_node_options()); ASSERT_EQ(result, controller_interface::return_type::OK); std::vector state_ifs; @@ -78,10 +78,10 @@ void IMUSensorBroadcasterTest::subscribe_and_get_message( sensor_msgs::msg::Imu & imu_msg, const std::string & ns) { // create a new subscriber - rclcpp::Node test_subscription_node("test_subscription_node"); + rclcpp::Node test_subscription_node("test_subscription_node", ns); auto subs_callback = [&](const sensor_msgs::msg::Imu::SharedPtr) {}; auto subscription = test_subscription_node.create_subscription( - "/test_imu_sensor_broadcaster/imu", 10, subs_callback); + "test_imu_sensor_broadcaster/imu", 10, subs_callback); // call update to publish the test value // since update doesn't guarantee a published message, republish until received diff --git a/imu_sensor_broadcaster/test/test_imu_sensor_broadcaster.hpp b/imu_sensor_broadcaster/test/test_imu_sensor_broadcaster.hpp index 5d53e810e6..08ba12ef11 100644 --- a/imu_sensor_broadcaster/test/test_imu_sensor_broadcaster.hpp +++ b/imu_sensor_broadcaster/test/test_imu_sensor_broadcaster.hpp @@ -49,7 +49,7 @@ class IMUSensorBroadcasterTest : public ::testing::Test void SetUp(); void TearDown(); - void SetUpIMUBroadcaster(); + void SetUpIMUBroadcaster(const std::string & ns = ""); protected: const std::string sensor_name_ = "imu_sensor"; @@ -78,7 +78,7 @@ class IMUSensorBroadcasterTest : public ::testing::Test std::unique_ptr imu_broadcaster_; - void subscribe_and_get_message(sensor_msgs::msg::Imu & imu_msg); + void subscribe_and_get_message(sensor_msgs::msg::Imu & imu_msg, const std::string & ns = ""); }; struct TestPrefixParams