test_launch.py
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00001 #! /usr/bin/env python
00002 import roslib; roslib.load_manifest('openni_launch')
00003 
00004 import rospy
00005 from sensor_msgs.msg import PointCloud2
00006 import os
00007 import subprocess
00008 import shutil
00009 import shlex
00010 import tempfile
00011 import signal
00012 import time
00013 
00014 def callback(data, args):
00015     args[0] = True
00016 
00017 rospy.init_node('test_sub')
00018 
00019 attempt = 0
00020 successes = 0
00021 failures = 0
00022 consecutive_failures = 0
00023 while not rospy.is_shutdown() and consecutive_failures < 5:
00024     # Bind received flag and use new topic each time to be very sure results
00025     # aren't affected by tardy callbacks
00026     received = [False]
00027     ns = "depth_reg_%d" % attempt
00028     topic = "/camera/%s/points" % ns
00029     attempt = attempt + 1
00030     sub = rospy.Subscriber(topic, PointCloud2, callback, callback_args=received)
00031 
00032     command = "roslaunch openni_launch openni.launch depth_registered:=%s" % ns
00033     #tmp = tempfile.TemporaryFile(mode='r+')
00034     tmp = open(os.devnull, 'w')
00035     p = subprocess.Popen(shlex.split(command), stdout=tmp, stderr=subprocess.STDOUT)
00036     start = time.time()
00037     end = start + 15.0
00038     while (not rospy.is_shutdown()) and (time.time() < end) and (not received[0]):
00039         time.sleep(0.1)
00040     duration = time.time() - start
00041 
00042     sub.unregister()
00043     p.send_signal(signal.SIGINT) # roslaunch will bring everything down
00044     p.wait()
00045 
00046     if not rospy.is_shutdown():
00047         if received[0]:
00048             rospy.loginfo("Succeeded in %.1fs", duration)
00049             successes = successes + 1
00050             consecutive_failures = 0
00051             status = "success"
00052         else:
00053             rospy.logerr("Failed!")
00054             failures = failures + 1
00055             consecutive_failures = consecutive_failures + 1
00056             status = "fail"
00057         if 0:
00058             # Write out log
00059             with open("%s_%05d.log" % (status, attempt), 'w') as f:
00060                 tmp.seek(0)
00061                 shutil.copyfileobj(tmp, f)
00062             # Move core dump if present (would be at ~/.ros/core)
00063             try:
00064                 core_name = "core_%d" % attempt
00065                 os.rename("core", core_name)
00066                 print "Core dump %s" % core_name
00067             except OSError:
00068                 pass
00069 
00070 print "Successes: %d" % successes
00071 print "Failures: %d" % failures


openni_camera
Author(s): Patrick Mihelich, Suat Gedikli, Radu Bogdan Rusu
autogenerated on Tue Apr 18 2017 02:14:10