locate_multiple_patterns.py

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#!/usr/bin/env python
import unittest
 
import ensenso_camera.ros2 as ros2py
 
import ensenso_camera_test.ros2_testing as ros2py_testing
 
LocatePattern = ros2py.import_action("ensenso_camera_msgs", "LocatePattern")
 
 
class TestLocateMultiplePatterns(unittest.TestCase):
    def setUp(self):
        self.node = ros2py.create_node("test_locate_multiple_patterns")
        self.locate_pattern_client = ros2py.create_action_client(self.node, "locate_pattern", LocatePattern)
        ros2py.wait_for_server(self.node, self.locate_pattern_client)
 
    def test_locate_multiple_patterns(self):
        response = ros2py.send_action_goal(self.node, self.locate_pattern_client, LocatePattern.Goal())
        result = response.get_result()
 
        self.assertTrue(response.successful())
        self.assertEqual(result.error.code, 0)
 
        self.assertTrue(result.found_pattern)
        self.assertEqual(len(result.patterns), 2)
        self.assertEqual(len(result.pattern_poses), 2)
 
 
def main():
    ros2py_testing.run_ros1_test("test_locate_multiple_patterns", TestLocateMultiplePatterns)
 
 
if __name__ == "__main__":
    main()