simple_python_client_test.py
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1 #! /usr/bin/env python
2 # Copyright (c) 2009, Willow Garage, Inc.
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28 
29 import unittest
30 import rospy
31 from actionlib_msgs.msg import GoalStatus
32 from actionlib import SimpleActionClient
33 from actionlib.msg import TestAction, TestGoal
34 
35 
36 class TestSimpleActionClient(unittest.TestCase):
37 
38  def testsimple(self):
39  client = SimpleActionClient('reference_action', TestAction)
40  self.assert_(client.wait_for_server(rospy.Duration(10.0)),
41  'Could not connect to the action server')
42 
43  goal = TestGoal(1)
44  client.send_goal(goal)
45  self.assert_(client.wait_for_result(rospy.Duration(10.0)),
46  "Goal didn't finish")
47  self.assertEqual(GoalStatus.SUCCEEDED, client.get_state())
48  self.assertEqual("The ref server has succeeded", client.get_goal_status_text())
49 
50  goal = TestGoal(2)
51  client.send_goal(goal)
52  self.assert_(client.wait_for_result(rospy.Duration(10.0)),
53  "Goal didn't finish")
54  self.assertEqual(GoalStatus.ABORTED, client.get_state())
55  self.assertEqual("The ref server has aborted", client.get_goal_status_text())
56 
57 
58 if __name__ == '__main__':
59  import rostest
60  rospy.init_node('simple_python_client_test')
61  rostest.rosrun('actionlib', 'test_simple_action_client_python', TestSimpleActionClient)
A Simple client implementation of the ActionInterface which supports only one goal at a time...


actionlib
Author(s): Eitan Marder-Eppstein, Vijay Pradeep, Mikael Arguedas
autogenerated on Tue Sep 3 2019 03:41:41