gazebo_plugins: test_range.py Source File

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00001 #!/usr/bin/env python
00002 import rospy
00003 from sensor_msgs.msg import Range
00004 
00005 import unittest
00006 
00007 class TestRangePlugin(unittest.TestCase):
00008 
00009   def test_max_range(self):
00010     msg = rospy.wait_for_message('/sonar2', Range)
00011     self.assertAlmostEqual(msg.range, msg.max_range)
00012 
00013   def test_inside_range(self):
00014     msg = rospy.wait_for_message('/sonar', Range)
00015     self.assertTrue(msg.range < 0.25 and msg.range > 0.22)
00016 
00017 if __name__ == '__main__':
00018   import rostest
00019   PKG_NAME = 'gazebo_plugins'
00020   TEST_NAME = PKG_NAME + 'range_test'
00021   rospy.init_node(TEST_NAME)
00022   rostest.rosrun(PKG_NAME, TEST_NAME, TestRangePlugin)