diff --git a/rosjava_helpers/build.gradle b/rosjava_helpers/build.gradle
index 977be790d2eca35cad329c393a76d2eaa956db6c..6768b0f37984a6725c97e7f43b1f388dd9cfab05 100644
--- a/rosjava_helpers/build.gradle
+++ b/rosjava_helpers/build.gradle
@@ -1,6 +1,6 @@
-apply plugin: 'java'
-
dependencies {
compile project(':rosjava')
compile 'org.yaml:snakeyaml:[1.17, 1.18)'
-}
\ No newline at end of file
+ testCompile 'junit:junit:4.8.2'
+ testCompile project(':rosjava').sourceSets.test.output
+}
diff --git a/rosjava_helpers/src/test/java/org/ros/helpers/ParameterLoaderNodeTest.java b/rosjava_helpers/src/test/java/org/ros/helpers/ParameterLoaderNodeTest.java
new file mode 100644
index 0000000000000000000000000000000000000000..42592027098c55a3e82787d43c599ba32e92b99c
--- /dev/null
+++ b/rosjava_helpers/src/test/java/org/ros/helpers/ParameterLoaderNodeTest.java
@@ -0,0 +1,138 @@
+/*
+ * Copyright (C) 2018 Ekumen, Inc.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may not
+ * use this file except in compliance with the License. You may obtain a copy of
+ * the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations under
+ * the License.
+ */
+package org.ros.helpers;
+
+
+import org.apache.commons.logging.Log;
+import org.junit.Before;
+import org.junit.Test;
+import org.ros.RosTest;
+import org.ros.exception.ParameterNotFoundException;
+import org.ros.namespace.GraphName;
+import org.ros.node.AbstractNodeMain;
+import org.ros.node.ConnectedNode;
+import org.ros.node.DefaultNodeListener;
+import org.ros.node.Node;
+import org.ros.node.NodeListener;
+import org.ros.node.parameter.ParameterTree;
+
+import java.util.ArrayList;
+import java.util.List;
+import java.util.concurrent.CountDownLatch;
+import java.util.concurrent.TimeUnit;
+
+import static org.junit.Assert.assertEquals;
+import static org.junit.Assert.assertTrue;
+import static org.junit.Assert.fail;
+
+
+/**
+ * @author jubeira@ekumenlabs.com (Juan I. Ubeira)
+ */
+public class ParameterLoaderNodeTest extends RosTest {
+
+ private ParameterTree parameters;
+ private Log log;
+
+ @Before
+ public void setup() throws InterruptedException {
+ final CountDownLatch latch = new CountDownLatch(1);
+ nodeMainExecutor.execute(new AbstractNodeMain() {
+ @Override
+ public GraphName getDefaultNodeName() {
+ return GraphName.of("node_name");
+ }
+
+ @Override
+ public void onStart(ConnectedNode connectedNode) {
+ parameters = connectedNode.getParameterTree();
+ log = connectedNode.getLog();
+ latch.countDown();
+ }
+ }, nodeConfiguration);
+ assertTrue(latch.await(1, TimeUnit.SECONDS));
+ }
+
+ @Test
+ public void testParameterLoad() throws InterruptedException {
+ final String namespace = "foo";
+ List<ParameterLoaderNode.Resource> resourceList = new ArrayList<ParameterLoaderNode.Resource>() {{
+ add(new ParameterLoaderNode.Resource(getClass().getResourceAsStream("/parameters.yaml"), ""));
+ add(new ParameterLoaderNode.Resource(getClass().getResourceAsStream("/parameters.yaml"), namespace));
+ }};
+ ParameterLoaderNode parameterLoaderNode = new ParameterLoaderNode(resourceList);
+
+ final CountDownLatch parameterNodeLatch = new CountDownLatch(1);
+ nodeMainExecutor.execute(parameterLoaderNode, nodeConfiguration, new ArrayList<NodeListener>() {{
+ add(new DefaultNodeListener() {
+ @Override
+ public void onShutdown(Node node) {
+ parameterNodeLatch.countDown();
+ }
+ });
+ }});
+
+ assertTrue(parameterNodeLatch.await(1, TimeUnit.SECONDS));
+
+ try {
+ // Without namespace.
+ assertEquals("bar", parameters.getString("/string_param"));
+ assertEquals(1823, parameters.getInteger("/int_param"));
+ assertEquals(1.74, parameters.getDouble("/double_param"), 0.001);
+ assertEquals(false, parameters.getBoolean("/boolean_param"));
+ List<?> list = parameters.getList("/list_param");
+ assertEquals("Hello", list.get(0));
+ assertEquals(1, list.get(1));
+ assertEquals(2.3, list.get(2));
+ assertEquals(true, list.get(3));
+
+ // With namespace.
+ assertEquals("bar", parameters.getString(namespace + "/string_param"));
+ assertEquals(1823, parameters.getInteger(namespace + "/int_param"));
+ assertEquals(1.74, parameters.getDouble(namespace + "/double_param"), 0.001);
+ assertEquals(false, parameters.getBoolean(namespace + "/boolean_param"));
+ list = parameters.getList(namespace + "/list_param");
+ assertEquals("Hello", list.get(0));
+ assertEquals(1, list.get(1));
+ assertEquals(2.3, list.get(2));
+ assertEquals(true, list.get(3));
+ } catch (ParameterNotFoundException e) {
+ log.error("Error: " + e.getMessage());
+ fail();
+ }
+ }
+
+ @Test
+ public void testEmptyYaml() throws InterruptedException {
+ List<ParameterLoaderNode.Resource> resourceList = new ArrayList<ParameterLoaderNode.Resource>() {{
+ add(new ParameterLoaderNode.Resource(getClass().getResourceAsStream("/empty.yaml"), ""));
+ }};
+ ParameterLoaderNode parameterLoaderNode = new ParameterLoaderNode(resourceList);
+
+ final CountDownLatch parameterNodeLatch = new CountDownLatch(1);
+ nodeMainExecutor.execute(parameterLoaderNode, nodeConfiguration, new ArrayList<NodeListener>() {{
+ add(new DefaultNodeListener() {
+ @Override
+ public void onShutdown(Node node) {
+ parameterNodeLatch.countDown();
+ }
+ });
+ }});
+
+ // No exceptions shall be thrown on node execution, and it should shut down properly.
+ assertTrue(parameterNodeLatch.await(1, TimeUnit.SECONDS));
+ }
+}
diff --git a/rosjava_helpers/src/test/resources/empty.yaml b/rosjava_helpers/src/test/resources/empty.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/rosjava_helpers/src/test/resources/parameters.yaml b/rosjava_helpers/src/test/resources/parameters.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..4c2c5faf0f1f6e0e2e3ce95f00453b48a5f21df4
--- /dev/null
+++ b/rosjava_helpers/src/test/resources/parameters.yaml
@@ -0,0 +1,9 @@
+ string_param: "bar"
+ int_param: 1823
+ double_param: 1.74
+ boolean_param: false
+ list_param:
+ - "Hello"
+ - 1
+ - 2.3
+ - true
\ No newline at end of file