Add test for #609

roseus/test/test-geneus.l

@@ -6,6 +6,7 @@
 (require :unittest "lib/llib/unittest.l")
 
 (ros::load-ros-manifest "roseus")
+(ros::load-ros-manifest "jsk_recognition_msgs")
 ;; check if package without msgs is ok
 ;; ros::eus-error is error
 (unless (fboundp 'ros::ros-error-org)
@@ -188,7 +189,10 @@
   ;; roseus treats uint8[] data as a string, which is the Euslisp reresentation for byte data.
   ;; see http://wiki.ros.org/msg#Fields
   (subscribe-and-check-msg "uint8multiarray" std_msgs::UInt8MultiArray :data "eus")
-
+  ;; Test name clashing with eus symbols
+  ;; e.g. jsk_recognition_msgs/ObjectArray, with Object slot
+  (subscribe-and-check-msg "objectarray" jsk_recognition_msgs::ObjectArray :objects
+                           (list (instance jsk_recognition_msgs::Object :init)))
   (format *error-output* "fixedarray~%")
   (ros::subscribe "fixedarray" roseus::FixedArray #'subscribe-and-check-array-msg)
   (format *error-output* "variablearray~%")

roseus/test/test_geneus_send_msgs.py

@@ -2,6 +2,7 @@
 
 import rospy
 import std_msgs
+import jsk_recognition_msgs.msg
 import roseus
 import roseus.msg
 
@@ -39,6 +40,7 @@ def send_msgs():
              rospy.Publisher('uint64multiarray', std_msgs.msg.UInt64MultiArray, queue_size=10)       : std_msgs.msg.UInt64MultiArray(data=[7,8,9]),
              rospy.Publisher('uint8multiarray', std_msgs.msg.UInt8MultiArray, queue_size=10)       : std_msgs.msg.UInt8MultiArray(data=[ord('e'),ord('u'),ord('s')]), # ascii codes of 'eus'
              rospy.Publisher('fixedarray', roseus.msg.FixedArray, queue_size=10)       : roseus.msg.FixedArray(float32_data=[1,-2,3], float64_data=[4,-5,6], int16_data=[7,-8,9], int32_data=[10,-11,12], int64_data=[13,-14,15], int8_data=[16,-17,18], uint16_data=[1,2,3], uint32_data=[4,5,6], uint64_data=[7,8,9], uint8_data=[ord('j'),ord('o'),ord('h'),ord('o'),ord('s'),ord('y'),ord('s'),ord('t'),ord('e'),ord('m'),ord('k'),ord('o'),ord('u'),ord('g'),ord('a'),ord('k'),ord('u')], bool_data=[True, False], time_data=[rospy.Time(0), rospy.Time(1)], duration_data=[rospy.Time(0), rospy.Time(1)], string_data=[std_msgs.msg.String("ros"), std_msgs.msg.String("eus")]),
+             rospy.Publisher('objectarray', jsk_recognition_msgs.msg.ObjectArray, queue_size=10)     : jsk_recognition_msgs.msg.ObjectArray(objects=[jsk_recognition_msgs.msg.Object()]),
              rospy.Publisher('variablearray', roseus.msg.VariableArray, queue_size=10)       : roseus.msg.VariableArray(float32_data=[1,-2,3], float64_data=[4,-5,6], int16_data=[7,-8,9], int32_data=[10,-11,12], int64_data=[13,-14,15], int8_data=[16,-17,18], uint16_data=[1,2,3], uint32_data=[4,5,6], uint64_data=[7,8,9], uint8_data=[ord('j'),ord('o'),ord('h'),ord('o'),ord('s'),ord('y'),ord('s'),ord('t'),ord('e'),ord('m'),ord('k'),ord('o'),ord('u'),ord('g'),ord('a'),ord('k'),ord('u')], bool_data=[True, False], time_data=[rospy.Time(0), rospy.Time(1)], duration_data=[rospy.Time(0), rospy.Time(1)], string_data=[std_msgs.msg.String("ros"), std_msgs.msg.String("eus")]),
             }
     rospy.init_node('test_geneus_send_msgs', anonymous=True)