test_mux_delete_add.py
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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 Willow Garage, Inc. 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 # Author: Brian Gerkey
00036 
00037 PKG = 'topic_tools'
00038 
00039 import rospy
00040 
00041 from topic_tools.srv import MuxAdd
00042 from topic_tools.srv import MuxDelete
00043 from topic_tools.srv import MuxList
00044 from topic_tools.srv import MuxSelect
00045 from std_msgs.msg import String
00046 
00047 def go():
00048     rospy.init_node('chatter')
00049 
00050     rospy.wait_for_service('mux/add', 5)
00051     rospy.wait_for_service('mux/delete', 5)
00052     rospy.wait_for_service('mux/list', 5)
00053     rospy.wait_for_service('mux/select', 5)
00054 
00055     add_srv = rospy.ServiceProxy('mux/add', MuxAdd)
00056     delete_srv = rospy.ServiceProxy('mux/delete', MuxDelete)
00057     list_srv = rospy.ServiceProxy('mux/list', MuxList)
00058     select_srv = rospy.ServiceProxy('mux/select', MuxSelect)
00059 
00060     b_pub = rospy.Publisher('b', String)
00061 
00062     # Execute the sequence given in #2863
00063     select_srv('c')
00064     delete_srv('b')
00065     add_srv('b')
00066     select_srv('b')
00067 
00068     # Now start publishing on b
00069     while not rospy.is_shutdown():
00070         b_pub.publish('foo')
00071         rospy.sleep(0.2)
00072 
00073 if __name__ == "__main__":
00074     go()


topic_tools
Author(s): Morgan Quigley, Brian Gerkey
autogenerated on Sat Dec 28 2013 17:36:13