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