test_ref_simple_action_server.py
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1 #! /usr/bin/env python
2 # Copyright (c) 2009, Willow Garage, Inc.
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15 # this software without specific prior written permission.
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28 PKG = 'actionlib'
29 
30 import unittest
31 import rospy
32 from actionlib_msgs.msg import GoalStatus
33 from actionlib import SimpleActionClient
34 from actionlib import ActionClient
35 from actionlib.msg import TestAction, TestGoal
36 
37 
38 class TestRefSimpleActionServer(unittest.TestCase):
39 
40  def test_one(self):
41  client = SimpleActionClient('reference_simple_action', TestAction)
42  self.assert_(client.wait_for_server(rospy.Duration(2.0)),
43  'Could not connect to the action server')
44 
45  goal = TestGoal(1)
46  client.send_goal(goal)
47  self.assert_(client.wait_for_result(rospy.Duration(2.0)),
48  "Goal didn't finish")
49  self.assertEqual(GoalStatus.SUCCEEDED, client.get_state())
50 
51  goal = TestGoal(2)
52  client.send_goal(goal)
53  self.assert_(client.wait_for_result(rospy.Duration(10.0)),
54  "Goal didn't finish")
55  self.assertEqual(GoalStatus.ABORTED, client.get_state())
56 
57  goal = TestGoal(3)
58  client.send_goal(goal)
59  self.assert_(client.wait_for_result(rospy.Duration(10.0)),
60  "Goal didn't finish")
61 
62  # The simple server can't reject goals
63  self.assertEqual(GoalStatus.ABORTED, client.get_state())
64 
65  goal = TestGoal(9)
66  saved_feedback = {}
67 
68  def on_feedback(fb):
69  rospy.loginfo("Got feedback")
70  saved_feedback[0] = fb
71 
72  client.send_goal(goal, feedback_cb=on_feedback)
73  self.assert_(client.wait_for_result(rospy.Duration(10.0)),
74  "Goal didn't finish")
75  self.assertEqual(GoalStatus.SUCCEEDED, client.get_state())
76 
77  self.assertEqual(saved_feedback[0].feedback, 9)
78 
79 
80 if __name__ == '__main__':
81  import rostest
82  rospy.init_node('test_ref_simple_action_server')
83  rostest.rosrun('actionlib', 'test_simple_action_client_python', TestRefSimpleActionServer)
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