Add LoadMap service test

nav2_map_server/test/component/test_occ_grid_node.cpp

@@ -13,12 +13,18 @@
 // limitations under the License.
 
 #include <gtest/gtest.h>
+#include <experimental/filesystem>
 #include <rclcpp/rclcpp.hpp>
 #include <memory>
 
 #include "test_constants/test_constants.h"
 #include "nav2_map_server/occ_grid_loader.hpp"
 #include "nav2_util/lifecycle_service_client.hpp"
+#include  "nav2_msgs/srv/load_map.hpp"
+
+#define TEST_DIR TEST_DIRECTORY
+
+using std::experimental::filesystem::path;
 
 using lifecycle_msgs::msg::Transition;
 
@@ -39,9 +45,11 @@ public:
     node_ = rclcpp::Node::make_shared("map_client_test");
     lifecycle_client_ =
       std::make_shared<nav2_util::LifecycleServiceClient>("map_server", node_);
+    RCLCPP_INFO(node_->get_logger(), "Creating Test Node");
 
-    lifecycle_client_->change_state(Transition::TRANSITION_CONFIGURE);
-    lifecycle_client_->change_state(Transition::TRANSITION_ACTIVATE);
+    const std::chrono::seconds timeout(1);
+    lifecycle_client_->change_state(Transition::TRANSITION_CONFIGURE, timeout);
+    lifecycle_client_->change_state(Transition::TRANSITION_ACTIVATE, timeout);
   }
 
   ~TestNode()
@@ -75,11 +83,36 @@ protected:
   std::shared_ptr<nav2_util::LifecycleServiceClient> lifecycle_client_;
 };
 
-TEST_F(TestNode, ResultReturned)
+TEST_F(TestNode, LoadMap)
+{
+  RCLCPP_INFO(node_->get_logger(), "Testing LoadMap service");
+  auto req = std::make_shared<nav2_msgs::srv::LoadMap::Request>();
+  auto client = node_->create_client<nav2_msgs::srv::LoadMap>("load_map");
+
+  RCLCPP_INFO(node_->get_logger(), "Waiting for load_map service");
+  ASSERT_TRUE(client->wait_for_service());
+
+  req->type = nav2_msgs::srv::LoadMap::Request::TYPE_FILE;
+  req->map_id = path(TEST_DIR) / path(g_valid_yaml_file);
+  auto resp = send_request<nav2_msgs::srv::LoadMap>(node_, client, req);
+
+  ASSERT_EQ(resp->result, nav2_msgs::srv::LoadMap::Response::RESULT_SUCCESS);
+  ASSERT_FLOAT_EQ(resp->map.info.resolution, g_valid_image_res);
+  ASSERT_EQ(resp->map.info.width, g_valid_image_width);
+  ASSERT_EQ(resp->map.info.height, g_valid_image_height);
+
+  for (unsigned int i = 0; i < resp->map.info.width * resp->map.info.height; i++) {
+    ASSERT_EQ(g_valid_image_content[i], resp->map.data[i]);
+  }
+}
+
+TEST_F(TestNode, GetMap)
 {
+  RCLCPP_INFO(node_->get_logger(), "Testing GetMap service");
   auto req = std::make_shared<nav_msgs::srv::GetMap::Request>();
   auto client = node_->create_client<nav_msgs::srv::GetMap>("map");
 
+  RCLCPP_INFO(node_->get_logger(), "Waiting for map service");
   ASSERT_TRUE(client->wait_for_service());
 
   auto resp = send_request<nav_msgs::srv::GetMap>(node_, client, req);

nav2_map_server/test/test_constants.cpp

@@ -57,5 +57,6 @@ const char g_valid_image_content[] = {
 
 const char * g_valid_png_file = "testmap.png";
 const char * g_valid_bmp_file = "testmap.bmp";
+const char * g_valid_yaml_file = "testmap.yaml";
 
 const float g_valid_image_res = 0.1;

nav2_map_server/test/test_constants/test_constants.h

@@ -38,6 +38,7 @@ extern const unsigned int g_valid_image_height;
 extern const char g_valid_image_content[];
 extern const char * g_valid_png_file;
 extern const char * g_valid_bmp_file;
+extern const char * g_valid_yaml_file;
 
 extern const float g_valid_image_res;