test_node.py
Go to the documentation of this file.00001 #!/usr/bin/env python 00002 # 00003 # Software License Agreement (BSD License) 00004 # 00005 # Copyright (c) 2008, Willow Garage, Inc. 00006 # All rights reserved. 00007 # 00008 # Redistribution and use in source and binary forms, with or without 00009 # modification, are permitted provided that the following conditions 00010 # are met: 00011 # 00012 # * Redistributions of source code must retain the above copyright 00013 # notice, this list of conditions and the following disclaimer. 00014 # * Redistributions in binary form must reproduce the above 00015 # copyright notice, this list of conditions and the following 00016 # disclaimer in the documentation and/or other materials provided 00017 # with the distribution. 00018 # * Neither the name of the Willow Garage nor the names of its 00019 # contributors may be used to endorse or promote products derived 00020 # from this software without specific prior written permission. 00021 # 00022 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 # POSSIBILITY OF SUCH DAMAGE. 00034 00035 import roslib 00036 roslib.load_manifest('qualification') 00037 00038 import rospy 00039 from std_srvs.srv import * 00040 from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus, KeyValue 00041 from time import sleep 00042 00043 00044 def callback(msg): 00045 print("Got msg") 00046 return EmptyResponse() 00047 00048 if __name__ == '__main__': 00049 rospy.init_node("test_node") 00050 00051 rospy.Service('self_test', Empty, callback) 00052 00053 pub = rospy.Publisher('/diagnostics', DiagnosticArray) 00054 00055 # Publish diagnostics to check runtime monitor, rxconsole 00056 msg = DiagnosticArray() 00057 stat = DiagnosticStatus() 00058 stat.level = 0 00059 stat.name = 'Test Node' 00060 stat.message = 'OK' 00061 stat.hardware_id = 'HW ID' 00062 stat.values = [ KeyValue('Node Status', 'OK') ] 00063 msg.status.append(stat) 00064 00065 while not rospy.is_shutdown(): 00066 msg.header.stamp = rospy.get_rostime() 00067 pub.publish(msg) 00068 rospy.loginfo('Test node is printing things') 00069 sleep(1.0)