test_ref_simple_action_server.py
Go to the documentation of this file.
1 #! /usr/bin/env python
2 # Copyright (c) 2009, Willow Garage, Inc.
3 # All rights reserved.
4 #
5 # Redistribution and use in source and binary forms, with or without
6 # modification, are permitted provided that the following conditions are met:
7 #
8 # * Redistributions of source code must retain the above copyright
9 # notice, this list of conditions and the following disclaimer.
10 # * Redistributions in binary form must reproduce the above copyright
11 # notice, this list of conditions and the following disclaimer in the
12 # documentation and/or other materials provided with the distribution.
13 # * Neither the name of the Willow Garage, Inc. nor the names of its
14 # contributors may be used to endorse or promote products derived from
15 # this software without specific prior written permission.
16 #
17 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
18 # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
19 # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
20 # ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
21 # LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
22 # CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
23 # SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
24 # INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
25 # CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
26 # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
27 # POSSIBILITY OF SUCH DAMAGE.
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 Mon Feb 28 2022 21:34:38