00001 #!/usr/bin/env python 00002 # -*- coding: utf-8 -*- 00003 00004 # Software License Agreement (BSD License) 00005 # 00006 # Copyright (c) 2013, Tokyo Opensource Robotics Kyokai Association 00007 # All rights reserved. 00008 # 00009 # Redistribution and use in source and binary forms, with or without 00010 # modification, are permitted provided that the following conditions 00011 # are met: 00012 # 00013 # * Redistributions of source code must retain the above copyright 00014 # notice, this list of conditions and the following disclaimer. 00015 # * Redistributions in binary form must reproduce the above 00016 # copyright notice, this list of conditions and the following 00017 # disclaimer in the documentation and/or other materials provided 00018 # with the distribution. 00019 # * Neither the name of Tokyo Opensource Robotics Kyokai Association. nor the 00020 # names of its contributors may be used to endorse or promote products 00021 # derived from this software without specific prior written permission. 00022 # 00023 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00024 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00025 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00026 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00027 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00028 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00029 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00030 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00031 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00032 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00033 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00034 # POSSIBILITY OF SUCH DAMAGE. 00035 # 00036 # Author: Isaac Isao Saito 00037 00038 # This should come earlier than later import. 00039 # See http://code.google.com/p/rtm-ros-robotics/source/detail?r=6773 00040 import unittest 00041 00042 #from hrpsys import rtm 00043 from nextage_ros_bridge import nextage_client 00044 00045 _ARMGROUP_TESTED = 'larm' 00046 _LINK_TESTED = 'LARM_JOINT5' 00047 _GOINITIAL_TIME_MIDSPEED = 3 # second 00048 _NUM_CARTESIAN_ITERATION = 300 00049 _PKG = 'nextage_ros_bridge' 00050 00051 00052 class TestNextageopenHand(unittest.TestCase): 00053 ''' 00054 Test NextageClient with rostest. 00055 ''' 00056 00057 @classmethod 00058 def setUpClass(self): 00059 self._robot = nextage_client.NextageClient() 00060 self._robot.init() 00061 self._robot.goInitial(_GOINITIAL_TIME_MIDSPEED) 00062 00063 def test_airhand_release_l(self): 00064 self._robot.airhand_release_l() 00065 00066 def test_airhand_release_r(self): 00067 self._robot.airhand_release_r() 00068 00069 if __name__ == '__main__': 00070 import rostest 00071 rostest.rosrun(_PKG, 'test_nxopen_hand', TestNextageopenHand)