Added integration test for light_config topic

Signed-off-by: William Lew <WilliamMilesLew@gmail.com>

test/integration/user_commands.cc

@@ -693,8 +693,8 @@ TEST_F(UserCommandsTest, Light)
 {
   // Start server
   ServerConfig serverConfig;
-  const auto sdfFile = ignition::common::joinPaths(
-    std::string(PROJECT_SOURCE_PATH), "test", "worlds", "lights_render.sdf");
+  const auto sdfFile = std::string(PROJECT_SOURCE_PATH) +
+    "/test/worlds/lights_render.sdf";
   serverConfig.SetSdfFile(sdfFile);
 
   Server server(serverConfig);
@@ -919,6 +919,25 @@ TEST_F(UserCommandsTest, Light)
   EXPECT_NEAR(1.5, spotLightComp->Data().SpotInnerAngle().Radian(), 0.1);
   EXPECT_NEAR(0.3, spotLightComp->Data().SpotOuterAngle().Radian(), 0.1);
   EXPECT_NEAR(0.9, spotLightComp->Data().SpotFalloff(), 0.1);
+
+  // Test light_config topic
+  const std::string lightTopic = "/world/lights_command/light_config";
+
+  msgs::Light lightMsg; 
+  lightMsg.set_name("spot");
+  ignition::msgs::Set(lightMsg.mutable_diffuse(),
+    ignition::math::Color(1.0f, 1.0f, 1.0f, 1.0f));
+
+  // Publish joint trajectory
+  auto pub = node.Advertise<msgs::Light>(lightTopic);
+  pub.Publish(lightMsg);
+
+  server.Run(true, 100, false);
+  // Sleep for a small duration to allow Run thread to start
+  IGN_SLEEP_MS(10);
+
+  EXPECT_EQ(math::Color(1.0f, 1.0f, 1.0f, 1.0f),
+    spotLightComp->Data().Diffuse());
 }
 
 /////////////////////////////////////////////////