From cbb7568282f5c9daf90b8a7c5899d55b2b3cda9a Mon Sep 17 00:00:00 2001
From: Kentaro Wada <www.kentaro.wada@gmail.com>
Date: Thu, 29 Sep 2016 19:33:35 +0900
Subject: [PATCH] Test nodelet_add_executable

---
 test_nodelet/CMakeLists.txt                 |  4 ++++
 test_nodelet/test_nodelet_executable.launch | 25 +++++++++++++++++++++
 2 files changed, 29 insertions(+)
 create mode 100644 test_nodelet/test_nodelet_executable.launch

diff --git a/test_nodelet/CMakeLists.txt b/test_nodelet/CMakeLists.txt
index 0daf84d7..4453da11 100644
--- a/test_nodelet/CMakeLists.txt
+++ b/test_nodelet/CMakeLists.txt
@@ -18,6 +18,10 @@ if(CATKIN_ENABLE_TESTING)
                                         ${catkin_LIBRARIES}
   )
 
+  # Test nodelet executable
+  nodelet_add_executable(plus test_nodelet/Plus)
+  add_rostest(test_nodelet_executable.launch)
+
   add_rostest(test_local.launch)
   add_rostest(test_loader.launch)
 
diff --git a/test_nodelet/test_nodelet_executable.launch b/test_nodelet/test_nodelet_executable.launch
new file mode 100644
index 00000000..65d5c22f
--- /dev/null
+++ b/test_nodelet/test_nodelet_executable.launch
@@ -0,0 +1,25 @@
+<launch>
+  <node name="Plus"
+        pkg="test_nodelet" type="plus">
+    <param name="value" type="double" value="2.1"/>
+  </node>
+
+  <node name="plus_remap"
+        pkg="test_nodelet" type="plus">
+    <param name="value" type="double" value="2.1"/>
+    <remap from="~out" to="remapped_output"/>
+  </node>
+
+  <node name="Plus2"
+        pkg="test_nodelet" type="plus">
+    <rosparam file="$(find test_nodelet)/plus_default.yaml"/>
+  </node>
+
+  <node name="Plus3" pkg="test_nodelet" type="plus">
+    <param name="value" type="double" value="2.5"/>
+    <remap from="~in" to="Plus2/out"/>
+  </node>
+
+  <test test-name="plus_local"
+        pkg="test_nodelet" type="plus_local.py" />
+</launch>