test_mapping_states.py
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00001 #!/usr/bin/python
00002 
00003 PKG = 'cob_3d_mapping_pipeline'
00004 import roslib; roslib.load_manifest(PKG)
00005 import rospy
00006 import smach
00007 import smach_ros
00008 #import unittest
00009 
00010 from generic_mapping_states import *
00011 
00012 class TestStates:
00013         def __init__(self, *args):
00014                 rospy.init_node('test_states')
00015 
00016         def test_update_map(self):
00017                 # create a SMACH state machine
00018                 SM = smach.StateMachine(outcomes=['overall_succeeded','overall_failed'])
00019                 #SM.userdata.pose = "home"
00020                 SM.userdata.angle_range = 3.14
00021                 #SM.userdata.scan_pose = [-1.3, -1.0, 3.14]
00022                 SM.userdata.scan_pose = [0.515, -0.614, 1.583]
00023 
00024                 # open the container
00025                 with SM:
00026                         smach.StateMachine.add('APPROACH', ApproachScanPose(),
00027                                 transitions={'succeeded':'UPDATE', 'failed':'overall_failed'})
00028                         smach.StateMachine.add('UPDATE', UpdateEnvMap(),
00029                                 transitions={'succeeded':'overall_succeeded', 'failed':'overall_failed'})
00030                         #smach.StateMachine.add('UPDATE', Map360(),
00031                         #       transitions={'succeeded':'overall_succeeded', 'failed':'overall_failed'})
00032                 try:
00033                         SM.execute()
00034                 except:
00035                         error_message = "Unexpected error:", sys.exc_info()[0]
00036                         self.fail(error_message)
00037 
00038 # main
00039 if __name__ == '__main__':
00040     test = TestStates()
00041     test.test_update_map()


cob_3d_mapping_pipeline
Author(s): Georg Arbeiter
autogenerated on Wed Aug 26 2015 11:03:28