Map2D_nws_ros2_test.cpp

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/*
 * SPDX-FileCopyrightText: 2023 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#include <yarp/dev/INavigation2D.h>
#include <yarp/dev/IMap2D.h>
#include <yarp/dev/Map2DLocation.h>
#include <yarp/dev/Map2DArea.h>
#include <yarp/os/Network.h>
#include <yarp/os/LogStream.h>
#include <yarp/dev/PolyDriver.h>
#include <yarp/dev/WrapperSingle.h>
#include <yarp/dev/tests/IMap2DTest.h>
 
#include <catch2/catch_amalgamated.hpp>
#include <harness.h>
 
using namespace yarp::dev;
using namespace yarp::dev::Nav2D;
using namespace yarp::sig;
using namespace yarp::os;
 
TEST_CASE("dev::Map2D_nws_ros2_test", "[yarp::dev]")
{
    YARP_REQUIRE_PLUGIN("map2D_nws_ros2", "device");
    YARP_REQUIRE_PLUGIN("map2DStorage", "device");
 
    Network::setLocalMode(true);
 
    SECTION("Checking map2D_nws_ros2 device")
    {
        PolyDriver ddmapserver;
 
        {
            Property pmapserver_cfg;
            pmapserver_cfg.put("device", "map2D_nws_ros2");
            REQUIRE(ddmapserver.open(pmapserver_cfg));
        }
 
        //"Close all polydrivers and check"
        {
            CHECK(ddmapserver.close());
        }
    }
 
    Network::setLocalMode(false);
}