my_hztest.py

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#!/usr/bin/env python
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## Gazebo test arm controller
##   sends posision
##   checks to see if P3D returns corresponding ground truth within TARGET_TOL of TARGET_VW
##          for a duration of TARGET_DURATION seconds

PKG = 'pr2_gazebo'
NAME = 'my_hztest'

import math
import roslib
roslib.load_manifest(PKG)
roslib.load_manifest('rostest')

import sys, unittest
import os, os.path, threading, time
import rospy, rostest
from std_msgs.msg import *
from tf.msg import tfMessage
from pr2_mechanism_msgs.msg import MechanismState

MIN_MSGS        = 100
TEST_TIMEOUT    = 100000000000.0

class MyHzTest(unittest.TestCase):
    def __init__(self, *args):
        super(MyHzTest, self).__init__(*args)
        self.success = False
        self.count = 0

        #for time tracking
        self.started = False
        self.start_time = 0
        self.end_time = 0

    def Input(self, msg):
        self.count += 1;

        if not self.started:
          self.start_time = rospy.get_rostime().to_sec()
          print " got first message at: ",self.start_time, " sec"
          self.started = True

        if self.count >= MIN_MSGS:
          self.end_time = rospy.get_rostime().to_sec()
          print " passed minimum ",self.count," messages at ",self.count / (self.end_time - self.start_time), " Hz"
          self.success = True
        #else:
          #print " got ",self.count," messages at ",self.count / (rospy.get_rostime().to_sec() - self.start_time), " Hz"

    def test_hz(self):
        print "LNK\n"
        #rospy.Subscriber("/tf", tfMessage, self.Input)
        rospy.Subscriber("/mechanism_state", MechanismState, self.Input)
        rospy.init_node(NAME, anonymous=True)
        timeout_t = time.time() + TEST_TIMEOUT
        while not rospy.is_shutdown() and not self.success and time.time() < timeout_t:
            time.sleep(1.0)

        self.assert_(self.success)

if __name__ == '__main__':
    rostest.run(PKG, sys.argv[0], MyHzTest, sys.argv) #, text_mode=True)