[pr2eus/test/robot-init-test.*, pr2eus/CMakeLists.txt] Add robot-init…

… function rostest. Add rostest execution for it in CMakeLists.txt.

pr2eus/CMakeLists.txt

@@ -36,6 +36,7 @@ if(CATKIN_ENABLE_TESTING)
   add_rostest(test/robot-no-clock.test)
   add_rostest(test/default-ri-test.test)
   add_rostest(test/speak-test.test)
+  add_rostest(test/robot-init-test.test)
 endif()
 
 generate_eusdoc(robot-interface.l)

pr2eus/test/robot-init-test.l

@@ -0,0 +1,34 @@
+#!/bin/env roseus
+
+;; robot-init test
+
+(require :unittest "lib/llib/unittest.l")
+
+(load "package://pr2eus/robot-interface.l")
+(ros::roseus "test_robot_init")
+
+(init-unit-test)
+
+;;(deftest test-robot-init-without-param-and-argument ()
+;;  (assert (not (robot-init)) "This should invoke error."))
+
+(deftest test-robot-init-with-argument ()
+  (assert (progn
+            (robot-init "pr2")
+            (and *ri* *pr2*))
+          "This should return pr2 and ri.")
+  )
+
+(deftest test-robot-init-without-argument-with-param ()
+  (makunbound '*ri*)
+  (makunbound '*pr2*)
+  (ros::set-param "/robot/type" "pr2")
+  (assert (progn
+            (robot-init)
+            (and *ri* *pr2*))
+          "This should return pr2 and ri.")
+  )
+
+(run-all-tests)
+(exit)
+

pr2eus/test/robot-init-test.test

@@ -0,0 +1,4 @@
+<launch>
+  <test test-name="robot_init_test_node" pkg="roseus" type="roseus"
+        args="$(find pr2eus)/test/robot-init-test.l" time-limit="600" />
+</launch>