api_test.py

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#!/usr/bin/env python

PKG='cob_powercube_chain'
import roslib; roslib.load_manifest(PKG)

import sys
import unittest

import rospy

class APITest(unittest.TestCase):
        def __init__(self, *args):
                super(APITest, self).__init__(*args)
                rospy.init_node("test_api_node")
                self.namespace = rospy.get_namespace()
                
        def test_service_api(self):
                rospy.wait_for_service('init',10)
                rospy.wait_for_service('stop',10)
                rospy.wait_for_service('recover',10)
                rospy.wait_for_service('set_operation_mode',10)

        def test_topic_api(self):
                topic_list = rospy.get_published_topics()
                #print topic_list
                
                # generate check list
                topic_check_list = []
                topic_check_list.append(['/joint_states','sensor_msgs/JointState'])
                topic_check_list.append([self.namespace + 'state','pr2_controllers_msgs/JointTrajectoryControllerState'])
                topic_check_list.append([self.namespace + 'joint_trajectory_action/feedback','pr2_controllers_msgs/JointTrajectoryActionFeedback'])
                topic_check_list.append([self.namespace + 'joint_trajectory_action/result','pr2_controllers_msgs/JointTrajectoryActionResult'])
                topic_check_list.append([self.namespace + 'joint_trajectory_action/status','actionlib_msgs/GoalStatusArray'])
                
                # perform check
                for L in topic_check_list:
                        if not L in topic_list:
                                self.assertTrue(False, L[0] + ' not in topic_list')

if __name__ == '__main__':
        import rostest
        rostest.rosrun(PKG, 'api_test', APITest)

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cob_powercube_chain
Author(s): Florian Weisshardt
autogenerated on Fri Jan 11 09:14:20 2013