From 2eb4e3dea4dec750cb1143df9a04ee8ba10febb4 Mon Sep 17 00:00:00 2001
From: Kei Okada <k-okada@jsk.t.u-tokyo.ac.jp>
Date: Wed, 1 Mar 2017 13:33:51 +0900
Subject: [PATCH] [WIP] add test code for #508

---
 roseus/CMakeLists.txt       |  2 +-
 roseus/msg/TestName.msg     |  1 +
 roseus/test/test-name-pub.l | 16 ++++++++++++++++
 roseus/test/test-name-sub.l |  8 ++++++++
 roseus/test/test-name.test  |  6 ++++++
 5 files changed, 32 insertions(+), 1 deletion(-)
 create mode 100644 roseus/msg/TestName.msg
 create mode 100755 roseus/test/test-name-pub.l
 create mode 100755 roseus/test/test-name-sub.l
 create mode 100644 roseus/test/test-name.test

diff --git a/roseus/CMakeLists.txt b/roseus/CMakeLists.txt
index 64d2c3fcb..7840afc06 100644
--- a/roseus/CMakeLists.txt
+++ b/roseus/CMakeLists.txt
@@ -95,7 +95,7 @@ add_service_files(
   FILES AddTwoInts.srv StringString.srv
 )
 add_message_files(
-  FILES String.msg StringStamped.msg FixedArray.msg VariableArray.msg
+  FILES String.msg StringStamped.msg FixedArray.msg VariableArray.msg TestName.msg
 )
 
 generate_messages(
diff --git a/roseus/msg/TestName.msg b/roseus/msg/TestName.msg
new file mode 100644
index 000000000..dce4ea5d0
--- /dev/null
+++ b/roseus/msg/TestName.msg
@@ -0,0 +1 @@
+roseus/StringStamped name
diff --git a/roseus/test/test-name-pub.l b/roseus/test/test-name-pub.l
new file mode 100755
index 000000000..c0367dbb4
--- /dev/null
+++ b/roseus/test/test-name-pub.l
@@ -0,0 +1,16 @@
+#!/usr/bin/env roseus
+
+(ros::load-ros-manifest "roseus")
+
+(ros::roseus "test_name_pub")
+(ros::advertise "test_name" roseus::TestName)
+(ros::rate 1)
+(setq i 0)
+(while (ros::ok)
+  (setq ss (instance roseus::StringStamped :init :data (format nil "test ~A" (incf i))))
+  (setq msg (instance roseus::TestName :init :name ss))
+  (ros::ros-info "pub ~A" msg)
+  (ros::publish "test_name" msg)
+  (ros::sleep)
+  (ros::spin-once))
+
diff --git a/roseus/test/test-name-sub.l b/roseus/test/test-name-sub.l
new file mode 100755
index 000000000..b7d300a22
--- /dev/null
+++ b/roseus/test/test-name-sub.l
@@ -0,0 +1,8 @@
+#!/usr/bin/env roseus
+
+(ros::load-ros-manifest "roseus")
+
+(ros::roseus "test_name_sub")
+(ros::subscribe "test_name" roseus::TestName #'(lambda (msg) (ros::ros-info "sub ~A" msg)))
+(ros::spin)
+
diff --git a/roseus/test/test-name.test b/roseus/test/test-name.test
new file mode 100644
index 000000000..e427428fa
--- /dev/null
+++ b/roseus/test/test-name.test
@@ -0,0 +1,6 @@
+<launch>
+  <node name="test_name_pub" pkg="roseus" type="test-name-pub.l"
+        output="screen" />
+  <node name="test_name_sub" pkg="roseus" type="test-name-sub.l"
+        output="screen" />
+</launch>