test_motion_forward.py

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#!/usr/bin/env python

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import rospy
from kobuki_testsuite import TravelForward 

# Robot moves forward

if __name__ == '__main__':

    rospy.init_node('test_motionforward')

    cmdvel_topic = '/mobile_base/commands/velocity'
    odom_topic = '/odom'
    cliff_topic =  '/mobile_base/events/cliff'
    travel = TravelForward(cmdvel_topic,odom_topic, cliff_topic)
    travel.init(0.05, 1.8)

    rospy.loginfo("Start to move forward")
    travel.execute()
    rospy.loginfo("Stop")