loader = new CommandLineLoader(emptyArgv, env); NodeConfiguration nodeConfiguration = loader.build(); assertEquals(NodeConfiguration.DEFAULT_MASTER_URI, nodeConfiguration.getMasterUri()); loader = new CommandLineLoader(emptyArgv, env); nodeConfiguration = loader.build(); assertEquals(defaultMasterUri, nodeConfiguration.getMasterUri()); assertEquals(defaultRosRoot, nodeConfiguration.getRosRoot()); assertTrue(nodeConfiguration.getParentResolver().getNamespace().isRoot()); nodeConfiguration = loader.build(); assertEquals(defaultMasterUri, nodeConfiguration.getMasterUri()); assertEquals(defaultRosRoot, nodeConfiguration.getRosRoot()); assertEquals("192.168.0.1", nodeConfiguration.getTcpRosAdvertiseAddress().getHost());
Lists.newArrayList("Foo", CommandLineVariables.ROS_MASTER_URI + ":=http://override:22622"); nodeConfiguration = new CommandLineLoader(args, env).build(); assertEquals(new URI("http://override:22622"), nodeConfiguration.getMasterUri()); assertEquals(new URI("http://override:22622"), nodeConfiguration.getMasterUri()); CommandLineVariables.ROS_IP + ":=192.168.0.2"); nodeConfiguration = new CommandLineLoader(args, env).build(); assertEquals(new URI("http://override:22622"), nodeConfiguration.getMasterUri()); assertEquals("192.168.0.2", nodeConfiguration.getTcpRosAdvertiseAddress().getHost()); assertEquals("192.168.0.2", nodeConfiguration.getXmlRpcAdvertiseAddress().getHost());
this.nodeListeners.addAll(nodeListeners); this.scheduledExecutorService = scheduledExecutorService; masterUri = nodeConfiguration.getMasterUri(); masterClient = new MasterClient(masterUri); topicParticipantManager = new TopicParticipantManager();