door_demo_test_exec_test.py

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#!/usr/bin/env python
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## Gazebo collision validation 
PKG = 'pr2_doors_gazebo_demo'
NAME = 'test_door_no_executive'

import roslib
roslib.load_manifest(PKG)

import unittest, sys, os, math
import time
import rospy, rostest
from nav_msgs.msg import *
from std_msgs.msg import String
from move_base_msgs.msg import MoveBaseAction, MoveBaseGoal
from door_msgs.msg import Door, DoorAction, DoorGoal
from actionlib import *

TEST_DURATION = 60000.0


class TestDoorNoExecutive(unittest.TestCase):
    def __init__(self, *args):
        super(TestDoorNoExecutive, self).__init__(*args)

        # initial door
        prior_door = Door()
        prior_door.frame_p1.x = 1.0
        prior_door.frame_p1.y = -0.5
        prior_door.frame_p2.x = 1.0
        prior_door.frame_p2.y = 0.5
        prior_door.door_p1.x = 1.0
        prior_door.door_p1.y = -0.5
        prior_door.door_p2.x = 1.0
        prior_door.door_p2.y = 0.5
        prior_door.travel_dir.x = 1.0
        prior_door.travel_dir.y = 0.0
        prior_door.travel_dir.z = 0.0
        prior_door.rot_dir = Door.ROT_DIR_COUNTERCLOCKWISE
        prior_door.hinge = Door.HINGE_P2
        prior_door.header.frame_id = "base_footprint"
        self.door = DoorGoal()
        self.door.door = prior_door

        self.move = MoveBaseGoal()
        self.move.target_pose.header.frame_id = 'odom_combined'
        self.move.target_pose.pose.position.x = 10
        self.move.target_pose.pose.position.y = 10
        self.move.target_pose.pose.orientation.w = 1
        
        self.ac_door = SimpleActionClient('move_through_door', DoorAction)
        print 'Waiting for open door action server'
        self.ac_door.wait_for_server()

        self.ac_move = SimpleActionClient('move_base_local', MoveBaseAction)
        print 'Waiting for move base action server'
        self.ac_move.wait_for_server()

        rospy.Subscriber("/test_output", String, self.stringOutput)


    def stringOutput(self, str):
        print str.data
        
    
    def test_door_no_executive(self):
       self.assert_(self.ac_door.send_goal_and_wait(self.door, rospy.Duration(TEST_DURATION), rospy.Duration(5.0)))
       self.assert_(self.ac_move.send_goal_and_wait(self.move, rospy.Duration(TEST_DURATION), rospy.Duration(5.0)))
    


if __name__ == '__main__':
    rospy.init_node('open_door_test', anonymous=True)
    rostest.run(PKG, sys.argv[0], TestDoorNoExecutive, sys.argv) #, text_mode=True)