git commit -m "first commit for v2"

Localizations/Libraries/Ros/map_server/test/consumer.py

@@ -0,0 +1,71 @@
+#!/usr/bin/env python
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2008, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of the Willow Garage nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+
+from __future__ import print_function
+
+PKG = 'static_map_server'
+NAME = 'consumer'
+
+import sys
+import unittest
+import time
+
+import rospy
+import rostest
+from nav_msgs.srv import GetMap
+
+
+class TestConsumer(unittest.TestCase):
+    def __init__(self, *args):
+        super(TestConsumer, self).__init__(*args)
+        self.success = False
+
+    def callback(self, data):
+        print(rospy.get_caller_id(), "I heard %s" % data.data)
+        self.success = data.data and data.data.startswith('hello world')
+        rospy.signal_shutdown('test done')
+
+    def test_consumer(self):
+        rospy.wait_for_service('static_map')
+        mapsrv = rospy.ServiceProxy('static_map', GetMap)
+        resp = mapsrv()
+        self.success = True
+        print(resp)
+        while not rospy.is_shutdown() and not self.success:  # and time.time() < timeout_t: <== timeout_t doesn't exists??
+            time.sleep(0.1)
+        self.assert_(self.success)
+        rospy.signal_shutdown('test done')
+
+if __name__ == '__main__':
+    rostest.rosrun(PKG, NAME, TestConsumer, sys.argv)