test_angular_acceleration.py
Go to the documentation of this file.
1 #!/usr/bin/env python
2 
3 # Software License Agreement (BSD License)
4 #
5 # Copyright (c) 2014, Yujin Robot
6 # All rights reserved.
7 #
8 # Redistribution and use in source and binary forms, with or without
9 # modification, are permitted provided that the following conditions
10 # are met:
11 #
12 # * Redistributions of source code must retain the above copyright
13 # notice, this list of conditions and the following disclaimer.
14 # * Redistributions in binary form must reproduce the above
15 # copyright notice, this list of conditions and the following
16 # disclaimer in the documentation and/or other materials provided
17 # with the distribution.
18 # * Neither the name of the Yujin Robot nor the names of its
19 # contributors may be used to endorse or promote products derived
20 # from this software without specific prior written permission.
21 #
22 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
23 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
24 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
25 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
26 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
27 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
28 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
29 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
30 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
31 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
32 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
33 # POSSIBILITY OF SUCH DAMAGE.
34 
35 #
36 
37 import roslib; roslib.load_manifest('kobuki_testsuite')
38 import rospy
39 
40 from kobuki_testsuite import AngularAccelerateTest
41 
42 # Test robot's rotational acceleration. Compare cmdvel_topic and odom using rqt_plot
43 
44 if __name__ == '__main__':
45 
46  rospy.init_node('test_angular_acceleration')
47 
48  cmdvel_topic = '/mobile_base/commands/velocity'
49  log_topic = '/log'
50  frequency = 100
51  accl = 2.0
52  rotator = AngularAccelerateTest(cmdvel_topic,log_topic, frequency, accl)
53 
54  rospy.loginfo("Start to rotate")
55  rotator.start()
56  rospy.sleep(8)
57  rospy.loginfo("Stop rotating")
58  rotator.stop()


kobuki_testsuite
Author(s): Jorge Santos Simon
autogenerated on Mon Jun 10 2019 13:45:22