test_angular_acceleration.py

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#!/usr/bin/env python

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import roslib; roslib.load_manifest('kobuki_testsuite')
import rospy

from kobuki_testsuite import AngularAccelerateTest

# Test robot's rotational acceleration. Compare cmdvel_topic and odom using rqt_plot

if __name__ == '__main__':

    rospy.init_node('test_angular_acceleration')

    cmdvel_topic = '/mobile_base/commands/velocity'
    log_topic = '/log'
    frequency = 100
    accl = 2.0 
    rotator = AngularAccelerateTest(cmdvel_topic,log_topic, frequency, accl)

    rospy.loginfo("Start to rotate")
    rotator.start()
    rospy.sleep(8)
    rospy.loginfo("Stop rotating")
    rotator.stop()