From 859843ff9b4b9d81beece1f52e17cf2a90330a49 Mon Sep 17 00:00:00 2001
From: Matthew Hansen <matthew.k.hansen@intel.com>
Date: Thu, 5 Dec 2019 08:49:24 -0800
Subject: [PATCH] Update for new LoadMap service
---
nav2_map_server/src/occ_grid_loader.cpp | 11 ++-----
.../test/component/test_occ_grid_node.cpp | 31 +++----------------
2 files changed, 7 insertions(+), 35 deletions(-)
diff --git a/nav2_map_server/src/occ_grid_loader.cpp b/nav2_map_server/src/occ_grid_loader.cpp
index 52b4e95e..6cd4129b 100644
--- a/nav2_map_server/src/occ_grid_loader.cpp
+++ b/nav2_map_server/src/occ_grid_loader.cpp
@@ -133,7 +133,7 @@ bool OccGridLoader::loadMapFromYaml(
{
if (yaml_file.empty()) {
RCLCPP_ERROR(node_->get_logger(), "YAML file name is empty, can't load!");
- response->result = nav2_msgs::srv::LoadMap::Response::RESULT_MAP_ID_DOES_NOT_EXIST;
+ response->result = nav2_msgs::srv::LoadMap::Response::RESULT_MAP_DOES_NOT_EXIST;
return false;
}
RCLCPP_INFO(node_->get_logger(), "Loading yaml file: %s", yaml_file.c_str());
@@ -206,15 +206,8 @@ nav2_util::CallbackReturn OccGridLoader::on_configure(const rclcpp_lifecycle::St
return;
}
RCLCPP_INFO(node_->get_logger(), "OccGridLoader: Handling LoadMap request");
- // Check if map_id is a file
- if (request->type != nav2_msgs::srv::LoadMap::Request::TYPE_FILE) {
- RCLCPP_ERROR(node_->get_logger(),
- "OccGridLoader: unsupported FILE_TYPE in request, can't load map");
- response->result = nav2_msgs::srv::LoadMap::Response::RESULT_INVALID_TYPE;
- return;
- }
// Load from file
- if (loadMapFromYaml(request->map_id, response)) {
+ if (loadMapFromYaml(request->map_url, response)) {
response->map = *msg_;
response->result = nav2_msgs::srv::LoadMap::Response::RESULT_SUCCESS;
occ_pub_->publish(*msg_); // publish new map
diff --git a/nav2_map_server/test/component/test_occ_grid_node.cpp b/nav2_map_server/test/component/test_occ_grid_node.cpp
index 35bb4221..4185a1cb 100644
--- a/nav2_map_server/test/component/test_occ_grid_node.cpp
+++ b/nav2_map_server/test/component/test_occ_grid_node.cpp
@@ -114,8 +114,7 @@ TEST_F(TestNode, LoadMap)
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);
+ req->map_url = 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);
@@ -127,23 +126,6 @@ TEST_F(TestNode, LoadMap)
}
}
-TEST_F(TestNode, LoadMapURL)
-{
- 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_URL;
- req->map_id = "dummy";
- RCLCPP_INFO(node_->get_logger(), "Sending load_map request with invalid type");
- auto resp = send_request<nav2_msgs::srv::LoadMap>(node_, client, req);
-
- ASSERT_EQ(resp->result, nav2_msgs::srv::LoadMap::Response::RESULT_INVALID_TYPE);
-}
-
TEST_F(TestNode, LoadMapNull)
{
RCLCPP_INFO(node_->get_logger(), "Testing LoadMap service");
@@ -153,12 +135,11 @@ TEST_F(TestNode, LoadMapNull)
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 = "";
+ req->map_url = "";
RCLCPP_INFO(node_->get_logger(), "Sending load_map request with null file name");
auto resp = send_request<nav2_msgs::srv::LoadMap>(node_, client, req);
- ASSERT_EQ(resp->result, nav2_msgs::srv::LoadMap::Response::RESULT_MAP_ID_DOES_NOT_EXIST);
+ ASSERT_EQ(resp->result, nav2_msgs::srv::LoadMap::Response::RESULT_MAP_DOES_NOT_EXIST);
}
TEST_F(TestNode, LoadMapInvalidYaml)
@@ -170,8 +151,7 @@ TEST_F(TestNode, LoadMapInvalidYaml)
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 = "invalid_file.yaml";
+ req->map_url = "invalid_file.yaml";
RCLCPP_INFO(node_->get_logger(), "Sending load_map request with invalid yaml file name");
auto resp = send_request<nav2_msgs::srv::LoadMap>(node_, client, req);
@@ -187,8 +167,7 @@ TEST_F(TestNode, LoadMapInvalidImage)
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 = req->map_id = path(TEST_DIR) / "invalid_image.yaml";
+ req->map_url = path(TEST_DIR) / "invalid_image.yaml";
RCLCPP_INFO(node_->get_logger(), "Sending load_map request with invalid image file name");
auto resp = send_request<nav2_msgs::srv::LoadMap>(node_, client, req);
--
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