test_linear_acceleration.py

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#!/usr/bin/env python

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# Test robot's linear acceleration. Compare cmdvel_topic and odom using rqt_plot

import roslib; roslib.load_manifest('kobuki_testsuite')
import rospy

from kobuki_testsuite import LinearAccelerateTest


if __name__ == '__main__':

    rospy.init_node('test_angular_acceleration')

    cmdvel_topic = '/mobile_base/commands/velocity'
    log_topic = '/log'
    frequency = 200
    accl = 2.0
    max_speed = 2.0

    forwarder = LinearAccelerateTest(cmdvel_topic,log_topic, frequency, accl, max_speed)

    rospy.loginfo("Start to move")
    forwarder.start()
    rospy.sleep(2)
    rospy.loginfo("Stop Moving")
    forwarder.stop()