From d72c6547ccb94042947b1652ebc19e0da372a2d6 Mon Sep 17 00:00:00 2001
From: Kentaro Wada <www.kentaro.wada@gmail.com>
Date: Mon, 12 Oct 2015 21:55:06 +0900
Subject: [PATCH] [jsk_topic_tools] Test ConnectionBasedTransport

---
 jsk_topic_tools/CMakeLists.txt                |  1 +
 .../test/test_connection_based_transport.test | 22 +++++++++++++++++++
 2 files changed, 23 insertions(+)
 create mode 100644 jsk_topic_tools/test/test_connection_based_transport.test

diff --git a/jsk_topic_tools/CMakeLists.txt b/jsk_topic_tools/CMakeLists.txt
index f3e07abf9..2af1829d0 100644
--- a/jsk_topic_tools/CMakeLists.txt
+++ b/jsk_topic_tools/CMakeLists.txt
@@ -98,6 +98,7 @@ if (NOT $ENV{ROS_DISTRO} STREQUAL "indigo")
   add_rostest(test/test_hz_measure.test)
   add_rostest(test/test_block.test)
   add_rostest(test/test_connection_based_nodelet.test)
+  add_rostest(test/test_connection_based_transport.test)
 endif(NOT $ENV{ROS_DISTRO} STREQUAL "indigo")
 
 install(TARGETS topic_buffer_server topic_buffer_client jsk_topic_tools
diff --git a/jsk_topic_tools/test/test_connection_based_transport.test b/jsk_topic_tools/test/test_connection_based_transport.test
new file mode 100644
index 000000000..f6d92ca77
--- /dev/null
+++ b/jsk_topic_tools/test/test_connection_based_transport.test
@@ -0,0 +1,22 @@
+<launch>
+  <node pkg="rostopic" type="rostopic" name="input"
+        args="pub /input sensor_msgs/Image 'data: [1, 2, 3]' -r 10">
+  </node>
+
+  <node name="simple_image_transport"
+        pkg="jsk_topic_tools" type="simple_image_transport.py">
+    <remap from="~input" to="input" />
+  </node>
+
+  <test test-name="test_connection"
+        name="test_connection"
+        pkg="jsk_topic_tools" type="test_connection.py">
+    <rosparam>
+      input_topic_type: sensor_msgs/Image
+      check_connected_topics: [simple_image_transport/output, input]
+      wait_for_connection: 3
+    </rosparam>
+    <remap from="~input" to="simple_image_transport/output" />
+  </test>
+
+</launch>