frameTransformSet_nwc_ros2_test.cpp

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/*
 * SPDX-FileCopyrightText: 2023 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#include <yarp/os/Network.h>
#include <yarp/dev/PolyDriver.h>
#include <yarp/dev/WrapperSingle.h>
 
#include <catch2/catch_amalgamated.hpp>
#include <harness.h>
 
using namespace yarp::dev;
using namespace yarp::os;
 
TEST_CASE("dev::frameTransformSet_nwc_ros2_test", "[yarp::dev]")
{
    YARP_REQUIRE_PLUGIN("frameTransformSet_nwc_ros2", "device");
 
    Network::setLocalMode(true);
 
    SECTION("Checking the nwc alone")
    {
        PolyDriver ddnwc;
 
        {
            Property pcfg;
            pcfg.put("device", "frameTransformSet_nwc_ros2");
            REQUIRE(ddnwc.open(pcfg));
        }
 
        //"Close all polydrivers and check"
        {
            CHECK(ddnwc.close());
        }
    }
 
    Network::setLocalMode(false);
}