obstacle_slalom_send_goal.py

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#! /usr/bin/python
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#* Author: Eitan Marder-Eppstein
#***********************************************************
PKG = 'icra_navigation_gazebo'
import roslib
roslib.load_manifest(PKG)
import rospy  
import time
import actionlib
import unittest



from move_base_msgs.msg import *
from geometry_msgs.msg import *
from roslib.msg import *

class TestBlindCorner(unittest.TestCase):
  def test_obstacle_slalom(self):
    client = actionlib.SimpleActionClient('move_base_local', MoveBaseAction)
    client.wait_for_server()

    goal = MoveBaseGoal(PoseStamped(Header(frame_id = 'base_link'),
                                  Pose(Point(13.0, 0.0, 0),
                                       Quaternion(0, 0, 0, 1))))
    client.send_goal(goal)
    client.wait_for_result()

    self.assertEquals(client.get_state(), actionlib.GoalStatus.SUCCEEDED, 'Goal did not succeed. Goal status: %d' % client.get_state() )

if __name__ == '__main__':
  import rostest
  rospy.init_node('obstacle_slalom_tester')
  rostest.unitrun(PKG, 'test_obstacle_slalom', TestBlindCorner)