obstacle_slalom_send_goal.py
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00001 #! /usr/bin/python
00002 #***********************************************************
00003 #* Software License Agreement (BSD License)
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00005 #*  Copyright (c) 2009, Willow Garage, Inc.
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00008 #*  Redistribution and use in source and binary forms, with or without
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00022 #*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00035 #* Author: Eitan Marder-Eppstein
00036 #***********************************************************
00037 PKG = 'icra_navigation_gazebo'
00038 import roslib
00039 roslib.load_manifest(PKG)
00040 import rospy  
00041 import time
00042 import actionlib
00043 import unittest
00044 
00045 
00046 
00047 from move_base_msgs.msg import *
00048 from geometry_msgs.msg import *
00049 from roslib.msg import *
00050 
00051 class TestBlindCorner(unittest.TestCase):
00052   def test_obstacle_slalom(self):
00053     client = actionlib.SimpleActionClient('move_base_local', MoveBaseAction)
00054     client.wait_for_server()
00055 
00056     goal = MoveBaseGoal(PoseStamped(Header(frame_id = 'base_link'),
00057                                   Pose(Point(13.0, 0.0, 0),
00058                                        Quaternion(0, 0, 0, 1))))
00059     client.send_goal(goal)
00060     client.wait_for_result()
00061 
00062     self.assertEquals(client.get_state(), actionlib.GoalStatus.SUCCEEDED, 'Goal did not succeed. Goal status: %d' % client.get_state() )
00063 
00064 if __name__ == '__main__':
00065   import rostest
00066   rospy.init_node('obstacle_slalom_tester')
00067   rostest.unitrun(PKG, 'test_obstacle_slalom', TestBlindCorner)


icra_navigation_gazebo
Author(s): Eitan Marder-Eppstein
autogenerated on Mon Jan 6 2014 12:01:17