wiggle_plug_test.cpp

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/*                                                                                     
 * Copyright (c) 2008, Willow Garage, Inc.                                             
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 * Author: Melonee Wise                                                                
 */


#include <ros/ros.h>
#include <gtest/gtest.h>
#include <boost/thread.hpp>
#include <actionlib/client/simple_action_client.h>
#include <pr2_plugs_msgs/WigglePlugAction.h>
#include <pr2_common_action_msgs/ArmMoveIKAction.h>
#include <actionlib/server/simple_action_server.h>


void spinThread()
{
  ros::spin();
}

void ik_execute(const pr2_common_action_msgs::ArmMoveIKGoalConstPtr& goal, actionlib::SimpleActionServer<pr2_common_action_msgs::ArmMoveIKAction>* as)
{
  as->setSucceeded();
}



TEST(ActionServerTest, wiggle_plug)
{
  ros::NodeHandle n;
  boost::thread spin_thread(&spinThread);

  actionlib::SimpleActionServer<pr2_common_action_msgs::ArmMoveIKAction> ik_server(n, "r_arm_ik", boost::bind(&ik_execute, _1, &ik_server), false);
  ik_server.start();

  actionlib::SimpleActionClient<pr2_plugs_msgs::WigglePlugAction> ac("wiggle_plug"); 


  EXPECT_TRUE(ac.waitForServer(ros::Duration(15.0)));
  ros::shutdown();
  spin_thread.join();
  
}

int main(int argc, char **argv){
  testing::InitGoogleTest(&argc, argv);
  ros::init(argc, argv, "wiggle_plug_tests");
  return RUN_ALL_TESTS();

}