test_joy_twist.py

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#!/usr/bin/env python
# Software License Agreement (BSD)
#
# @author    Tony Baltovski <tbaltovski@clearpathrobotics.com>
# @copyright (c) 2015, Clearpath Robotics, Inc., All rights reserved.
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import sys
import unittest
import time
import rostest
import rospy
import geometry_msgs.msg
import sensor_msgs.msg
 
 
class TestJoyTwist(unittest.TestCase):
 
    def setUp(self):
        rospy.init_node('test_joy_twist_node', anonymous=True)
        self.pub = rospy.Publisher('joy', sensor_msgs.msg.Joy)
        rospy.Subscriber('cmd_vel', geometry_msgs.msg.Twist, callback=self.callback)
 
        while (not rospy.has_param("~publish_joy")) and (not rospy.get_param("~expect_cmd_vel")):
            time.sleep(0.1)
 
        self.expect_cmd_vel = rospy.get_param("~expect_cmd_vel")
        self.joy_msg = rospy.get_param("~publish_joy")
        self.received_cmd_vel = None
 
    def test_expected(self):
        pub_joy = sensor_msgs.msg.Joy()
        pub_joy.axes.extend(self.joy_msg['axes'])
        pub_joy.buttons.extend(self.joy_msg['buttons'])
        while self.received_cmd_vel is None:
            self.pub.publish(pub_joy)
            time.sleep(0.1)
 
        self.assertAlmostEqual(self.received_cmd_vel.linear.x, self.expect_cmd_vel['linear']['x'])
        self.assertAlmostEqual(self.received_cmd_vel.linear.y, self.expect_cmd_vel['linear']['y'])
        self.assertAlmostEqual(self.received_cmd_vel.linear.z, self.expect_cmd_vel['linear']['z'])
        self.assertAlmostEqual(self.received_cmd_vel.angular.x, self.expect_cmd_vel['angular']['x'])
        self.assertAlmostEqual(self.received_cmd_vel.angular.y, self.expect_cmd_vel['angular']['y'])
        self.assertAlmostEqual(self.received_cmd_vel.angular.z, self.expect_cmd_vel['angular']['z'])
 
    def callback(self, msg):
        self.received_cmd_vel = geometry_msgs.msg.Twist()
        self.received_cmd_vel = msg
 
 
if __name__ == '__main__':
    rostest.rosrun('teleop_twist_joy', 'test_joy_twist', TestJoyTwist)