simple_python_client_test.py

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#! /usr/bin/env python
# Copyright (c) 2009, Willow Garage, Inc.
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import unittest
import rospy
from actionlib_msgs.msg import GoalStatus
from actionlib import SimpleActionClient
from actionlib.msg import TestAction, TestGoal


class TestSimpleActionClient(unittest.TestCase):

    def testsimple(self):
        client = SimpleActionClient('reference_action', TestAction)
        self.assert_(client.wait_for_server(rospy.Duration(10.0)),
                     'Could not connect to the action server')

        goal = TestGoal(1)
        client.send_goal(goal)
        self.assert_(client.wait_for_result(rospy.Duration(10.0)),
                     "Goal didn't finish")
        self.assertEqual(GoalStatus.SUCCEEDED, client.get_state())
        self.assertEqual("The ref server has succeeded", client.get_goal_status_text())

        goal = TestGoal(2)
        client.send_goal(goal)
        self.assert_(client.wait_for_result(rospy.Duration(10.0)),
                     "Goal didn't finish")
        self.assertEqual(GoalStatus.ABORTED, client.get_state())
        self.assertEqual("The ref server has aborted", client.get_goal_status_text())


if __name__ == '__main__':
    import rostest
    rospy.init_node('simple_python_client_test')
    rostest.rosrun('actionlib', 'test_simple_action_client_python', TestSimpleActionClient)