test_node.py
Go to the documentation of this file.
00001 #!/usr/bin/env python
00002 # Software License Agreement (BSD License)
00003 #
00004 # Copyright (c) 2008, Willow Garage, Inc.
00005 # All rights reserved.
00006 #
00007 # Redistribution and use in source and binary forms, with or without
00008 # modification, are permitted provided that the following conditions
00009 # are met:
00010 #
00011 #  * Redistributions of source code must retain the above copyright
00012 #    notice, this list of conditions and the following disclaimer.
00013 #  * Redistributions in binary form must reproduce the above
00014 #    copyright notice, this list of conditions and the following
00015 #    disclaimer in the documentation and/or other materials provided
00016 #    with the distribution.
00017 #  * Neither the name of Willow Garage, Inc. nor the names of its
00018 #    contributors may be used to endorse or promote products derived
00019 #    from this software without specific prior written permission.
00020 #
00021 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032 # POSSIBILITY OF SUCH DAMAGE.
00033 
00034 ## Simple talker demo that publishes std_msg/Strings to the 'chatter' topic
00035 
00036 PKG = 'test_rospy'
00037 NAME = 'test_node'
00038 
00039 import sys
00040 
00041 import rospy
00042 import test_ros.msg
00043 
00044 # Copied from test_ros.test_node
00045 #_required_publications  = 'test_string_out', 'test_primitives_out', 'test_arrays_out', 'test_header_out'
00046 #_required_subscriptions = 'test_string_in', 'test_primitives_in', 'test_arrays_in', 'test_header_in', 'probe_topic'
00047 
00048 ## pass-through callback that republishes message on \a pub.
00049 ## @param pub TopicPub: topic to republish incoming messages on
00050 ## @return fn: callback fn for TopicSub
00051 def chain_callback(pub):
00052     def chained_callback(data):
00053         # special logic for handling TestHeader
00054         if isinstance(data, test_ros.msg.TestHeader):
00055             if data.auto == 0:
00056                 new_data = test_ros.msg.TestHeader()
00057                 # when auto is 0, must send 1234, 5678 as time
00058                 new_data.header.stamp = Time(1234, 5678)
00059                 # frame_id not really important
00060                 new_data.header.frame_id = 1234
00061             else: # force auto-header timestamp
00062                 new_data = test_ros.msg.TestHeader(None, rospy.caller_id(), data.auto)
00063             data = new_data
00064         data.caller_id = rospy.caller_id()
00065         pub.publish(data)
00066 
00067 def test_node():
00068     # required publications
00069     string_out = rospy.Publisher("test_string_out", test_ros.msg.TestString)
00070     primitives_out = rospy.Publisher("test_primitives_out", test_ros.msg.TestPrimitives)
00071     arrays_out = rospy.Publisher("test_arrays_out", test_ros.msg.TestArrays)
00072     header_out = rospy.Publisher("test_header_out", test_ros.msg.TestHeader)
00073 
00074     #required subs
00075     rospy.Subscriber("test_string_in", test_ros.msg.TestString, chain_callback(string_out))
00076     rospy.Subscriber("test_primitives_in", test_ros.msg.TestPrimitives, chain_callback(primitives_out))
00077     rospy.Subscriber("test_arrays_in", test_ros.msg.TestArrays, chain_callback(arrays_out))
00078     rospy.Subscriber("test_header_in", test_ros.msg.TestHeader, chain_callback(header_out))
00079      
00080     # subscription with no publisher
00081     probe_in = rospy.Subscriber("probe_topic", test_ros.msg.TestString)
00082     
00083     rospy.init_node(NAME)
00084     rospy.spin()
00085         
00086 if __name__ == '__main__':
00087     test_node()
00088 
00089         


test_rospy
Author(s): Ken Conley/kwc@willowgarage.com
autogenerated on Sat Dec 28 2013 17:36:20