From 965490f61105e488c72c1b5ac3452e5db9fb8047 Mon Sep 17 00:00:00 2001
From: Damon Kohler <damonkohler@google.com>
Date: Thu, 17 Nov 2016 12:41:02 +0100
Subject: [PATCH] Adds configuration files test. (#172)

---
 cartographer_ros/CMakeLists.txt               |  3 +-
 .../cartographer_ros/CMakeLists.txt           |  8 ++++
 .../configuration_files_test.cc               | 48 +++++++++++++++++++
 .../cartographer_ros/node_options.h           |  1 -
 .../configuration_files/revo_lds.lua          |  6 +--
 5 files changed, 61 insertions(+), 5 deletions(-)
 create mode 100644 cartographer_ros/cartographer_ros/configuration_files_test.cc

diff --git a/cartographer_ros/CMakeLists.txt b/cartographer_ros/CMakeLists.txt
index 0a51a0c..39e4fc6 100644
--- a/cartographer_ros/CMakeLists.txt
+++ b/cartographer_ros/CMakeLists.txt
@@ -22,8 +22,9 @@ set(PACKAGE_DEPENDENCIES
   geometry_msgs
   nav_msgs
   pcl_conversions
-  roscpp
   rosbag
+  roscpp
+  roslib
   sensor_msgs
   tf2
   tf2_eigen
diff --git a/cartographer_ros/cartographer_ros/CMakeLists.txt b/cartographer_ros/cartographer_ros/CMakeLists.txt
index 9739c33..a198274 100644
--- a/cartographer_ros/cartographer_ros/CMakeLists.txt
+++ b/cartographer_ros/cartographer_ros/CMakeLists.txt
@@ -93,6 +93,14 @@ google_library(time_conversion
     time_conversion.h
 )
 
+google_test(configuration_files_test
+  USES_CARTOGRAPHER
+  SRCS
+    configuration_files_test.cc
+  DEPENDS
+    node_options
+)
+
 google_test(time_conversion_test
   USES_CARTOGRAPHER
   SRCS
diff --git a/cartographer_ros/cartographer_ros/configuration_files_test.cc b/cartographer_ros/cartographer_ros/configuration_files_test.cc
new file mode 100644
index 0000000..43d5890
--- /dev/null
+++ b/cartographer_ros/cartographer_ros/configuration_files_test.cc
@@ -0,0 +1,48 @@
+/*
+ * Copyright 2016 The Cartographer Authors
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include <string>
+#include <vector>
+
+#include "cartographer/common/configuration_file_resolver.h"
+#include "cartographer/common/lua_parameter_dictionary.h"
+#include "cartographer_ros/node_options.h"
+#include "gtest/gtest.h"
+#include "ros/package.h"
+
+namespace cartographer_ros {
+namespace {
+
+class ConfigurationFilesTest : public ::testing::TestWithParam<const char*> {};
+
+TEST_P(ConfigurationFilesTest, ValidateNodeOptions) {
+  EXPECT_NO_FATAL_FAILURE({
+    auto file_resolver = ::cartographer::common::make_unique<
+        ::cartographer::common::ConfigurationFileResolver>(std::vector<string>{
+        ::ros::package::getPath("cartographer_ros") + "/configuration_files"});
+    const string code = file_resolver->GetFileContentOrDie(GetParam());
+    ::cartographer::common::LuaParameterDictionary lua_parameter_dictionary(
+        code, std::move(file_resolver), nullptr);
+    ::cartographer_ros::CreateNodeOptions(&lua_parameter_dictionary);
+  });
+}
+
+INSTANTIATE_TEST_CASE_P(ValidateAllNodeOptions, ConfigurationFilesTest,
+                        ::testing::Values("backpack_2d.lua", "backpack_3d.lua",
+                                          "pr2.lua", "revo_lds.lua"));
+
+}  // namespace
+}  // namespace cartographer_ros
diff --git a/cartographer_ros/cartographer_ros/node_options.h b/cartographer_ros/cartographer_ros/node_options.h
index bf7b0ee..2d2c81f 100644
--- a/cartographer_ros/cartographer_ros/node_options.h
+++ b/cartographer_ros/cartographer_ros/node_options.h
@@ -22,7 +22,6 @@
 #include "cartographer/common/lua_parameter_dictionary.h"
 #include "cartographer/common/port.h"
 #include "cartographer/mapping/map_builder.h"
-
 #include "cartographer_ros/sensor_bridge.h"
 
 namespace cartographer_ros {
diff --git a/cartographer_ros/configuration_files/revo_lds.lua b/cartographer_ros/configuration_files/revo_lds.lua
index 4dc37e6..3722396 100644
--- a/cartographer_ros/configuration_files/revo_lds.lua
+++ b/cartographer_ros/configuration_files/revo_lds.lua
@@ -36,9 +36,9 @@ options = {
 
 MAP_BUILDER.use_trajectory_builder_2d = true
 
-TRAJECTORY_BUILDER_2D.laser_min_range = 0.3,
-TRAJECTORY_BUILDER_2D.laser_max_range = 8.,
-TRAJECTORY_BUILDER_2D.laser_missing_echo_ray_length = 1.,
+TRAJECTORY_BUILDER_2D.laser_min_range = 0.3
+TRAJECTORY_BUILDER_2D.laser_max_range = 8.
+TRAJECTORY_BUILDER_2D.laser_missing_echo_ray_length = 1.
 TRAJECTORY_BUILDER_2D.use_imu_data = false
 TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true