diff --git a/rcl/package.xml b/rcl/package.xml
index 82d790e7c..b2295960b 100644
--- a/rcl/package.xml
+++ b/rcl/package.xml
@@ -34,9 +34,9 @@
rmw
rmw_implementation_cmake
launch
- example_interfaces
osrf_testing_tools_cpp
std_msgs
+ test_msgs
ament_cmake
diff --git a/rcl/test/CMakeLists.txt b/rcl/test/CMakeLists.txt
index 6c84511d6..c76a14b5c 100644
--- a/rcl/test/CMakeLists.txt
+++ b/rcl/test/CMakeLists.txt
@@ -1,8 +1,8 @@
find_package(ament_cmake_gtest REQUIRED)
find_package(ament_cmake_pytest REQUIRED)
-find_package(example_interfaces REQUIRED)
find_package(std_msgs REQUIRED)
+find_package(test_msgs REQUIRED)
find_package(rmw_implementation_cmake REQUIRED)
@@ -38,7 +38,7 @@ function(test_target_function)
ENV ${rmw_implementation_env_var}
APPEND_LIBRARY_DIRS ${extra_lib_dirs}
LIBRARIES ${PROJECT_NAME}
- AMENT_DEPENDENCIES ${rmw_implementation} "example_interfaces"
+ AMENT_DEPENDENCIES ${rmw_implementation} "test_msgs"
)
rcl_add_custom_gtest(test_time${target_suffix}
@@ -99,7 +99,7 @@ function(test_target_function)
ENV ${rmw_implementation_env_var}
APPEND_LIBRARY_DIRS ${extra_lib_dirs}
LIBRARIES ${PROJECT_NAME}
- AMENT_DEPENDENCIES ${rmw_implementation} "example_interfaces" "std_msgs"
+ AMENT_DEPENDENCIES ${rmw_implementation} "std_msgs" "test_msgs"
${SKIP_TEST}
)
@@ -142,7 +142,7 @@ function(test_target_function)
ENV ${rmw_implementation_env_var}
APPEND_LIBRARY_DIRS ${extra_lib_dirs}
LIBRARIES ${PROJECT_NAME}
- AMENT_DEPENDENCIES "std_msgs" "example_interfaces"
+ AMENT_DEPENDENCIES "std_msgs" "test_msgs"
)
rcl_add_custom_gtest(test_guard_condition${target_suffix}
@@ -169,7 +169,7 @@ function(test_target_function)
ENV ${rmw_implementation_env_var}
APPEND_LIBRARY_DIRS ${extra_lib_dirs}
LIBRARIES ${PROJECT_NAME}
- AMENT_DEPENDENCIES ${rmw_implementation} "example_interfaces"
+ AMENT_DEPENDENCIES ${rmw_implementation} "test_msgs"
)
rcl_add_custom_gtest(test_subscription${target_suffix}
@@ -196,7 +196,7 @@ function(test_target_function)
ENV ${rmw_implementation_env_var}
APPEND_LIBRARY_DIRS ${extra_lib_dirs}
LIBRARIES ${PROJECT_NAME}
- AMENT_DEPENDENCIES ${rmw_implementation} "example_interfaces"
+ AMENT_DEPENDENCIES ${rmw_implementation} "test_msgs"
)
# Launch tests
@@ -205,14 +205,14 @@ function(test_target_function)
SRCS rcl/service_fixture.cpp
INCLUDE_DIRS ${osrf_testing_tools_cpp_INCLUDE_DIRS}
LIBRARIES ${PROJECT_NAME}
- AMENT_DEPENDENCIES ${rmw_implementation} "example_interfaces"
+ AMENT_DEPENDENCIES ${rmw_implementation} "test_msgs"
)
rcl_add_custom_executable(client_fixture${target_suffix}
SRCS rcl/client_fixture.cpp
INCLUDE_DIRS ${osrf_testing_tools_cpp_INCLUDE_DIRS}
LIBRARIES ${PROJECT_NAME}
- AMENT_DEPENDENCIES ${rmw_implementation} "example_interfaces"
+ AMENT_DEPENDENCIES ${rmw_implementation} "test_msgs"
)
rcl_add_custom_launch_test(test_services
diff --git a/rcl/test/rcl/client_fixture.cpp b/rcl/test/rcl/client_fixture.cpp
index 834df0cfb..992f03917 100644
--- a/rcl/test/rcl/client_fixture.cpp
+++ b/rcl/test/rcl/client_fixture.cpp
@@ -21,7 +21,7 @@
#include "rcl/client.h"
#include "rcl/rcl.h"
-#include "example_interfaces/srv/add_two_ints.h"
+#include "test_msgs/srv/primitives.h"
#include "osrf_testing_tools_cpp/scope_exit.hpp"
#include "rcl/error_handling.h"
@@ -130,12 +130,12 @@ int main(int argc, char ** argv)
});
const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
- example_interfaces, AddTwoInts);
- const char * topic = "add_two_ints";
+ test_msgs, Primitives);
+ const char * service_name = "primitives";
rcl_client_t client = rcl_get_zero_initialized_client();
rcl_client_options_t client_options = rcl_client_get_default_options();
- rcl_ret_t ret = rcl_client_init(&client, &node, ts, topic, &client_options);
+ rcl_ret_t ret = rcl_client_init(&client, &node, ts, service_name, &client_options);
if (ret != RCL_RET_OK) {
RCUTILS_LOG_ERROR_NAMED(
ROS_PACKAGE_NAME, "Error in client init: %s", rcl_get_error_string_safe())
@@ -157,10 +157,10 @@ int main(int argc, char ** argv)
}
// Initialize a request.
- example_interfaces__srv__AddTwoInts_Request client_request;
- example_interfaces__srv__AddTwoInts_Request__init(&client_request);
- client_request.a = 1;
- client_request.b = 2;
+ test_msgs__srv__Primitives_Request client_request;
+ test_msgs__srv__Primitives_Request__init(&client_request);
+ client_request.uint8_value = 1;
+ client_request.uint32_value = 2;
int64_t sequence_number;
if (rcl_send_request(&client, &client_request, &sequence_number)) {
@@ -174,11 +174,11 @@ int main(int argc, char ** argv)
return -1;
}
- example_interfaces__srv__AddTwoInts_Request__fini(&client_request);
+ test_msgs__srv__Primitives_Request__fini(&client_request);
// Initialize the response owned by the client and take the response.
- example_interfaces__srv__AddTwoInts_Response client_response;
- example_interfaces__srv__AddTwoInts_Response__init(&client_response);
+ test_msgs__srv__Primitives_Response client_response;
+ test_msgs__srv__Primitives_Response__init(&client_response);
if (!wait_for_client_to_be_ready(&client, 1000, 100)) {
RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "Client never became ready")
@@ -191,7 +191,7 @@ int main(int argc, char ** argv)
return -1;
}
- example_interfaces__srv__AddTwoInts_Response__fini(&client_response);
+ test_msgs__srv__Primitives_Response__fini(&client_response);
}
return main_ret;
diff --git a/rcl/test/rcl/service_fixture.cpp b/rcl/test/rcl/service_fixture.cpp
index afd132de7..db16e77a4 100644
--- a/rcl/test/rcl/service_fixture.cpp
+++ b/rcl/test/rcl/service_fixture.cpp
@@ -22,7 +22,7 @@
#include "rcl/rcl.h"
-#include "example_interfaces/srv/add_two_ints.h"
+#include "test_msgs/srv/primitives.h"
#include "osrf_testing_tools_cpp/scope_exit.hpp"
#include "rcl/error_handling.h"
@@ -103,12 +103,12 @@ int main(int argc, char ** argv)
});
const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
- example_interfaces, AddTwoInts);
- const char * topic = "add_two_ints";
+ test_msgs, Primitives);
+ const char * service_name = "primitives";
rcl_service_t service = rcl_get_zero_initialized_service();
rcl_service_options_t service_options = rcl_service_get_default_options();
- rcl_ret_t ret = rcl_service_init(&service, &node, ts, topic, &service_options);
+ rcl_ret_t ret = rcl_service_init(&service, &node, ts, service_name, &service_options);
if (ret != RCL_RET_OK) {
RCUTILS_LOG_ERROR_NAMED(
ROS_PACKAGE_NAME, "Error in service init: %s", rcl_get_error_string_safe())
@@ -124,10 +124,10 @@ int main(int argc, char ** argv)
});
// Initialize a response.
- example_interfaces__srv__AddTwoInts_Response service_response;
- example_interfaces__srv__AddTwoInts_Response__init(&service_response);
+ test_msgs__srv__Primitives_Response service_response;
+ test_msgs__srv__Primitives_Response__init(&service_response);
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
- example_interfaces__srv__AddTwoInts_Response__fini(&service_response);
+ test_msgs__srv__Primitives_Response__fini(&service_response);
});
// Block until a client request comes in.
@@ -138,10 +138,10 @@ int main(int argc, char ** argv)
}
// Take the pending request.
- example_interfaces__srv__AddTwoInts_Request service_request;
- example_interfaces__srv__AddTwoInts_Request__init(&service_request);
+ test_msgs__srv__Primitives_Request service_request;
+ test_msgs__srv__Primitives_Request__init(&service_request);
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
- example_interfaces__srv__AddTwoInts_Request__fini(&service_request);
+ test_msgs__srv__Primitives_Request__fini(&service_request);
});
rmw_request_id_t header;
// TODO(jacquelinekay) May have to check for timeout error codes
@@ -152,7 +152,7 @@ int main(int argc, char ** argv)
}
// Sum the request and send the response.
- service_response.sum = service_request.a + service_request.b;
+ service_response.uint64_value = service_request.uint8_value + service_request.uint32_value;
if (rcl_send_response(&service, &header, &service_response) != RCL_RET_OK) {
RCUTILS_LOG_ERROR_NAMED(
ROS_PACKAGE_NAME, "Error in send_response: %s", rcl_get_error_string_safe())
diff --git a/rcl/test/rcl/test_client.cpp b/rcl/test/rcl/test_client.cpp
index 599fd9fcb..f890bcac2 100644
--- a/rcl/test/rcl/test_client.cpp
+++ b/rcl/test/rcl/test_client.cpp
@@ -18,8 +18,8 @@
#include "rcl/rcl.h"
-#include "example_interfaces/srv/add_two_ints.h"
#include "rosidl_generator_c/string_functions.h"
+#include "test_msgs/srv/primitives.h"
#include "./failing_allocator_functions.hpp"
#include "osrf_testing_tools_cpp/scope_exit.hpp"
@@ -64,7 +64,7 @@ TEST_F(TestClientFixture, test_client_nominal) {
rcl_client_options_t client_options = rcl_client_get_default_options();
const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
- example_interfaces, AddTwoInts);
+ test_msgs, Primitives);
ret = rcl_client_init(&client, this->node_ptr, ts, topic_name, &client_options);
// Check the return code of initialization and that the service name matches what's expected
@@ -77,10 +77,10 @@ TEST_F(TestClientFixture, test_client_nominal) {
});
// Initialize the client request.
- example_interfaces__srv__AddTwoInts_Request req;
- example_interfaces__srv__AddTwoInts_Request__init(&req);
- req.a = 1;
- req.b = 2;
+ test_msgs__srv__Primitives_Request req;
+ test_msgs__srv__Primitives_Request__init(&req);
+ req.uint8_value = 1;
+ req.uint32_value = 2;
// Check that there were no errors while sending the request.
int64_t sequence_number = 0;
@@ -98,7 +98,7 @@ TEST_F(TestClientFixture, test_client_init_fini) {
rcl_client_t client;
const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
- example_interfaces, AddTwoInts);
+ test_msgs, Primitives);
const char * topic_name = "chatter";
rcl_client_options_t default_client_options = rcl_client_get_default_options();
diff --git a/rcl/test/rcl/test_graph.cpp b/rcl/test/rcl/test_graph.cpp
index a10baf0f6..c8aaa8538 100644
--- a/rcl/test/rcl/test_graph.cpp
+++ b/rcl/test/rcl/test_graph.cpp
@@ -33,7 +33,7 @@
#include "rcutils/logging_macros.h"
#include "std_msgs/msg/string.h"
-#include "example_interfaces/srv/add_two_ints.h"
+#include "test_msgs/srv/primitives.h"
#include "osrf_testing_tools_cpp/scope_exit.hpp"
#include "rcl/error_handling.h"
@@ -469,7 +469,7 @@ TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_rcl_service_server_
rcl_ret_t ret;
// First create a client which will be used to call the function.
rcl_client_t client = rcl_get_zero_initialized_client();
- auto ts = ROSIDL_GET_SRV_TYPE_SUPPORT(example_interfaces, AddTwoInts);
+ auto ts = ROSIDL_GET_SRV_TYPE_SUPPORT(test_msgs, Primitives);
const char * service_name = "/service_test_rcl_service_server_is_available";
rcl_client_options_t client_options = rcl_client_get_default_options();
ret = rcl_client_init(&client, this->node_ptr, ts, service_name, &client_options);
diff --git a/rcl/test/rcl/test_remap_integration.cpp b/rcl/test/rcl/test_remap_integration.cpp
index fa9c3ce36..6fc44bce7 100644
--- a/rcl/test/rcl/test_remap_integration.cpp
+++ b/rcl/test/rcl/test_remap_integration.cpp
@@ -14,11 +14,12 @@
#include
-#include "example_interfaces/srv/add_two_ints.h"
#include "rcl/rcl.h"
#include "rcl/remap.h"
#include "rcl/error_handling.h"
+
#include "std_msgs/msg/int64.h"
+#include "test_msgs/srv/primitives.h"
#include "./arg_macros.hpp"
@@ -81,7 +82,7 @@ TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), remap_using_g
}
{ // Client service name gets remapped
const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
- example_interfaces, AddTwoInts);
+ test_msgs, Primitives);
rcl_client_options_t client_options = rcl_client_get_default_options();
rcl_client_t client = rcl_get_zero_initialized_client();
rcl_ret_t ret = rcl_client_init(&client, &node, ts, "/foo/bar", &client_options);
@@ -91,7 +92,7 @@ TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), remap_using_g
}
{ // Server service name gets remapped
const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
- example_interfaces, AddTwoInts);
+ test_msgs, Primitives);
rcl_service_options_t service_options = rcl_service_get_default_options();
rcl_service_t service = rcl_get_zero_initialized_service();
rcl_ret_t ret = rcl_service_init(&service, &node, ts, "/foo/bar", &service_options);
@@ -147,7 +148,7 @@ TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), ignore_global
}
{ // Client service name does not get remapped
const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
- example_interfaces, AddTwoInts);
+ test_msgs, Primitives);
rcl_client_options_t client_options = rcl_client_get_default_options();
rcl_client_t client = rcl_get_zero_initialized_client();
rcl_ret_t ret = rcl_client_init(&client, &node, ts, "/foo/bar", &client_options);
@@ -157,7 +158,7 @@ TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), ignore_global
}
{ // Server service name does not get remapped
const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
- example_interfaces, AddTwoInts);
+ test_msgs, Primitives);
rcl_service_options_t service_options = rcl_service_get_default_options();
rcl_service_t service = rcl_get_zero_initialized_service();
rcl_ret_t ret = rcl_service_init(&service, &node, ts, "/foo/bar", &service_options);
@@ -214,7 +215,7 @@ TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), local_rules_b
}
{ // Client service name
const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
- example_interfaces, AddTwoInts);
+ test_msgs, Primitives);
rcl_client_options_t client_options = rcl_client_get_default_options();
rcl_client_t client = rcl_get_zero_initialized_client();
rcl_ret_t ret = rcl_client_init(&client, &node, ts, "/foo/bar", &client_options);
@@ -224,7 +225,7 @@ TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), local_rules_b
}
{ // Server service name
const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
- example_interfaces, AddTwoInts);
+ test_msgs, Primitives);
rcl_service_options_t service_options = rcl_service_get_default_options();
rcl_service_t service = rcl_get_zero_initialized_service();
rcl_ret_t ret = rcl_service_init(&service, &node, ts, "/foo/bar", &service_options);
@@ -266,7 +267,7 @@ TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), remap_relativ
}
{ // Client service name
const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
- example_interfaces, AddTwoInts);
+ test_msgs, Primitives);
rcl_client_options_t client_options = rcl_client_get_default_options();
rcl_client_t client = rcl_get_zero_initialized_client();
rcl_ret_t ret = rcl_client_init(&client, &node, ts, "bar", &client_options);
@@ -276,7 +277,7 @@ TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), remap_relativ
}
{ // Server service name
const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
- example_interfaces, AddTwoInts);
+ test_msgs, Primitives);
rcl_service_options_t service_options = rcl_service_get_default_options();
rcl_service_t service = rcl_get_zero_initialized_service();
rcl_ret_t ret = rcl_service_init(&service, &node, ts, "bar", &service_options);
diff --git a/rcl/test/rcl/test_service.cpp b/rcl/test/rcl/test_service.cpp
index 6ca020e22..55b47398c 100644
--- a/rcl/test/rcl/test_service.cpp
+++ b/rcl/test/rcl/test_service.cpp
@@ -22,7 +22,7 @@
#include "rcl/rcl.h"
-#include "example_interfaces/srv/add_two_ints.h"
+#include "test_msgs/srv/primitives.h"
#include "osrf_testing_tools_cpp/scope_exit.hpp"
#include "rcl/error_handling.h"
@@ -102,9 +102,9 @@ wait_for_service_to_be_ready(
TEST_F(CLASSNAME(TestServiceFixture, RMW_IMPLEMENTATION), test_service_nominal) {
rcl_ret_t ret;
const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
- example_interfaces, AddTwoInts);
- const char * topic = "add_two_ints";
- const char * expected_topic = "/add_two_ints";
+ test_msgs, Primitives);
+ const char * topic = "primitives";
+ const char * expected_topic = "/primitives";
rcl_service_t service = rcl_get_zero_initialized_service();
rcl_service_options_t service_options = rcl_service_get_default_options();
@@ -149,14 +149,14 @@ TEST_F(CLASSNAME(TestServiceFixture, RMW_IMPLEMENTATION), test_service_nominal)
std::this_thread::sleep_for(std::chrono::milliseconds(1000));
// Initialize a request.
- example_interfaces__srv__AddTwoInts_Request client_request;
- example_interfaces__srv__AddTwoInts_Request__init(&client_request);
- client_request.a = 1;
- client_request.b = 2;
+ test_msgs__srv__Primitives_Request client_request;
+ test_msgs__srv__Primitives_Request__init(&client_request);
+ client_request.uint8_value = 1;
+ client_request.uint32_value = 2;
int64_t sequence_number;
ret = rcl_send_request(&client, &client_request, &sequence_number);
EXPECT_EQ(sequence_number, 1);
- example_interfaces__srv__AddTwoInts_Request__fini(&client_request);
+ test_msgs__srv__Primitives_Request__fini(&client_request);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
bool success;
@@ -167,35 +167,35 @@ TEST_F(CLASSNAME(TestServiceFixture, RMW_IMPLEMENTATION), test_service_nominal)
// test take_request/send_response in a single-threaded, deterministic execution.
{
// Initialize a response.
- example_interfaces__srv__AddTwoInts_Response service_response;
- example_interfaces__srv__AddTwoInts_Response__init(&service_response);
+ test_msgs__srv__Primitives_Response service_response;
+ test_msgs__srv__Primitives_Response__init(&service_response);
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
- example_interfaces__srv__AddTwoInts_Response__fini(&service_response);
+ test_msgs__srv__Primitives_Response__fini(&service_response);
});
// Initialize a separate instance of the request and take the pending request.
- example_interfaces__srv__AddTwoInts_Request service_request;
- example_interfaces__srv__AddTwoInts_Request__init(&service_request);
+ test_msgs__srv__Primitives_Request service_request;
+ test_msgs__srv__Primitives_Request__init(&service_request);
rmw_request_id_t header;
ret = rcl_take_request(&service, &header, &service_request);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
- EXPECT_EQ(1, service_request.a);
- EXPECT_EQ(2, service_request.b);
+ EXPECT_EQ(1, service_request.uint8_value);
+ EXPECT_EQ(2UL, service_request.uint32_value);
// Simulate a response callback by summing the request and send the response..
- service_response.sum = service_request.a + service_request.b;
+ service_response.uint64_value = service_request.uint8_value + service_request.uint32_value;
ret = rcl_send_response(&service, &header, &service_response);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
}
wait_for_service_to_be_ready(&service, 10, 100, success);
// Initialize the response owned by the client and take the response.
- example_interfaces__srv__AddTwoInts_Response client_response;
- example_interfaces__srv__AddTwoInts_Response__init(&client_response);
+ test_msgs__srv__Primitives_Response client_response;
+ test_msgs__srv__Primitives_Response__init(&client_response);
rmw_request_id_t header;
ret = rcl_take_response(&client, &header, &client_response);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
- EXPECT_EQ(client_response.sum, 3);
+ EXPECT_EQ(client_response.uint64_value, 3ULL);
EXPECT_EQ(header.sequence_number, 1);
}
diff --git a/rcl/test/test_namespace.cpp b/rcl/test/test_namespace.cpp
index ad5479819..d67b33357 100644
--- a/rcl/test/test_namespace.cpp
+++ b/rcl/test/test_namespace.cpp
@@ -22,8 +22,8 @@
#include "rcl/rcl.h"
#include "rcl/graph.h"
-#include "example_interfaces/srv/add_two_ints.h"
#include "rosidl_generator_c/string_functions.h"
+#include "test_msgs/srv/primitives.h"
#include "osrf_testing_tools_cpp/scope_exit.hpp"
#include "rcl/error_handling.h"
@@ -61,7 +61,7 @@ class TestNamespaceFixture : public ::testing::Test
*/
TEST_F(TestNamespaceFixture, test_client_server) {
rcl_ret_t ret;
- auto ts = ROSIDL_GET_SRV_TYPE_SUPPORT(example_interfaces, AddTwoInts);
+ auto ts = ROSIDL_GET_SRV_TYPE_SUPPORT(test_msgs, Primitives);
const char * service_name = "/my/namespace/test_namespace_client_server";
const char * unmatched_client_name = "/your/namespace/test_namespace_client_server";
const char * matched_client_name = "/my/namespace/test_namespace_client_server";