wiggle_plug_test.cpp
Go to the documentation of this file.00001 /* 00002 * Copyright (c) 2008, Willow Garage, Inc. 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions are met: 00007 * 00008 * * Redistributions of source code must retain the above copyright 00009 * notice, this list of conditions and the following disclaimer. 00010 * * Redistributions in binary form must reproduce the above copyright 00011 * notice, this list of conditions and the following disclaimer in the 00012 * documentation and/or other materials provided with the distribution. 00013 * * Neither the name of the Willow Garage, Inc. nor the names of its 00014 * contributors may be used to endorse or promote products derived from 00015 * this software without specific prior written permission. 00016 * 00017 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00021 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00022 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00023 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00024 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00025 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00026 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 * POSSIBILITY OF SUCH DAMAGE. 00028 * 00029 * Author: Melonee Wise 00030 */ 00031 00032 00033 #include <ros/ros.h> 00034 #include <gtest/gtest.h> 00035 #include <boost/thread.hpp> 00036 #include <actionlib/client/simple_action_client.h> 00037 #include <pr2_plugs_msgs/WigglePlugAction.h> 00038 #include <pr2_common_action_msgs/ArmMoveIKAction.h> 00039 #include <actionlib/server/simple_action_server.h> 00040 00041 00042 void spinThread() 00043 { 00044 ros::spin(); 00045 } 00046 00047 void ik_execute(const pr2_common_action_msgs::ArmMoveIKGoalConstPtr& goal, actionlib::SimpleActionServer<pr2_common_action_msgs::ArmMoveIKAction>* as) 00048 { 00049 as->setSucceeded(); 00050 } 00051 00052 00053 00054 TEST(ActionServerTest, wiggle_plug) 00055 { 00056 ros::NodeHandle n; 00057 boost::thread spin_thread(&spinThread); 00058 00059 actionlib::SimpleActionServer<pr2_common_action_msgs::ArmMoveIKAction> ik_server(n, "r_arm_ik", boost::bind(&ik_execute, _1, &ik_server)); 00060 00061 actionlib::SimpleActionClient<pr2_plugs_msgs::WigglePlugAction> ac("wiggle_plug"); 00062 00063 00064 EXPECT_TRUE(ac.waitForServer(ros::Duration(15.0))); 00065 ros::shutdown(); 00066 spin_thread.join(); 00067 00068 } 00069 00070 int main(int argc, char **argv){ 00071 testing::InitGoogleTest(&argc, argv); 00072 ros::init(argc, argv, "wiggle_plug_tests"); 00073 return RUN_ALL_TESTS(); 00074 00075 }