test_sounds.py
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00001 #!/usr/bin/env python
00002 
00003 # Software License Agreement (BSD License)
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00034 
00035 import roslib; roslib.load_manifest('kobuki_testsuite')
00036 import rospy
00037 
00038 from kobuki_msgs.msg import Sound
00039 
00040 sounds = [Sound.ON, Sound.OFF, Sound.RECHARGE, Sound.BUTTON, Sound.ERROR, Sound.CLEANINGSTART, Sound.CLEANINGEND]
00041 texts = ["On", "Off", "Recharge", "Button", "Error", "CleaningStart", "CleaningEnd"]
00042 
00043 rospy.init_node("test_sounds")
00044 pub = rospy.Publisher('/mobile_base/commands/sound', Sound)
00045 rate = rospy.Rate(0.5)
00046 
00047 # Added below two line of code
00048 # to wait until at least one subscriber is present or connected.
00049 # Because rospy.Publisher will skip(or eat) first certain messages, if you publish just after rospy.init()
00050 # Without this patch, first message - Sound.ON will never be published.
00051 # I think this is a bug of rospy
00052 # Younghun Ju
00053 while not pub.get_num_connections():
00054   rate.sleep()
00055 
00056 msg = Sound()
00057 while not rospy.is_shutdown():
00058     for sound, text in zip(sounds, texts):
00059         msg.value = sound
00060         print text 
00061         pub.publish(msg)
00062         rate.sleep()
00063     break
00064     


kobuki_testsuite
Author(s): Jorge Santos Simon
autogenerated on Thu Jun 6 2019 17:38:11