Function createTestLaunchFile

test/src/sick_scan_test.cpp:364–413

int createTestLaunchFile(std::string launchFileFullName, std::vector<paramEntryAscii> entryList, std::string& testLaunchFile)
{
	printf("Try loading launchfile :%s",launchFileFullName.c_str());
	TiXmlDocument doc;
	doc.LoadFile(launchFileFullName.c_str());

	if (doc.Error() == true)
	{
		ROS_ERROR("ERROR parsing launch file %s\nRow: %d\nCol: %d", doc.ErrorDesc(), doc.ErrorRow(), doc.ErrorCol());
		return(-1);
	}
	TiXmlNode *node = doc.FirstChild("launch");
	if (node != NULL)
	{
		node = node->FirstChild("node");
		std::vector<paramEntryAscii> paramOrgList = getParamList(node);
		for (int i = 0; i < entryList.size(); i++)
		{
			bool replaceEntry = false;
			for (int j = 0; j < paramOrgList.size(); j++)
			{
				if (entryList[i].getName().compare(paramOrgList[j].getName()) == 0)
				{
					paramOrgList[j].setValues(entryList[i].getName(), entryList[i].getType(), entryList[i].getValue());
					replaceEntry = true;
				}
			}
			if (replaceEntry == false)  // add new one to list
			{
				paramEntryAscii tmp(entryList[i].getName(), entryList[i].getType(), entryList[i].getValue());
				paramOrgList.push_back(tmp);
			}
		}
		// delete all parameters and replace with new one
		replaceParamList(node, paramOrgList);
	}

	// append source extension if any 
	size_t pos = launchFileFullName.rfind('.');
	std::string resultFileName = "";
	testLaunchFile = "";
	if (pos != std::string::npos)
	{
		resultFileName = launchFileFullName.substr(0, pos);
		resultFileName += "_test.launch";
		doc.SaveFile(resultFileName.c_str());
		testLaunchFile = resultFileName;
	}
	return(0);
}

int cloud_width = 0;  // hacky 
int cloud_height = 0;