simple_python_client_test.py
Go to the documentation of this file.00001 #! /usr/bin/env python 00002 # Copyright (c) 2009, 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 import roslib; roslib.load_manifest('actionlib') 00030 00031 import sys 00032 import unittest 00033 import rospy 00034 from actionlib_msgs.msg import * 00035 from actionlib import SimpleActionClient 00036 from actionlib.msg import TestAction, TestGoal 00037 00038 class TestSimpleActionClient(unittest.TestCase): 00039 00040 def testsimple(self): 00041 client = SimpleActionClient('reference_action', TestAction) 00042 self.assert_(client.wait_for_server(rospy.Duration(10.0)), 00043 'Could not connect to the action server') 00044 00045 goal = TestGoal(1) 00046 client.send_goal(goal) 00047 self.assert_(client.wait_for_result(rospy.Duration(10.0)), 00048 "Goal didn't finish") 00049 self.assertEqual(GoalStatus.SUCCEEDED, client.get_state()) 00050 self.assertEqual("The ref server has succeeded", client.get_goal_status_text()) 00051 00052 goal = TestGoal(2) 00053 client.send_goal(goal) 00054 self.assert_(client.wait_for_result(rospy.Duration(10.0)), 00055 "Goal didn't finish") 00056 self.assertEqual(GoalStatus.ABORTED, client.get_state()) 00057 self.assertEqual("The ref server has aborted", client.get_goal_status_text()) 00058 00059 00060 00061 if __name__ == '__main__': 00062 import rostest 00063 rospy.init_node('simple_python_client_test') 00064 rostest.rosrun('actionlib', 'test_simple_action_client_python', TestSimpleActionClient)