test_object_verification.py
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00001 #!/usr/bin/python
00002 
00003 PKG = 'srs_states'
00004 import roslib; roslib.load_manifest(PKG)
00005 import rospy
00006 import smach
00007 import smach_ros
00008 #import unittest
00009 
00010 from mapping_states import *
00011 from detection_states import *
00012 
00013 class TestStates:
00014         def __init__(self, *args):
00015                 rospy.init_node('test_states')
00016 
00017         def test_update_map(self):
00018                 # create a SMACH state machine
00019                 SM = smach.StateMachine(outcomes=['overall_succeeded','overall_failed'])
00020                 #SM.userdata.pose = "home"
00021                 SM.userdata.angle_range = 0.6
00022                 #SM.userdata.scan_pose = [-1.3, -1.0, 3.14]
00023                 SM.userdata.scan_pose = [0.0, 0.0, 0.0]
00024                 SM.userdata.object_name ='IkeaShelfMilan' 
00025 
00026                 # open the container
00027                 with SM:
00028                         smach.StateMachine.add('APPROACH', ApproachScanPose(),
00029                                 transitions={'succeeded':'UPDATE', 'failed':'overall_failed'})
00030                         smach.StateMachine.add('UPDATE', UpdateEnvMap(),
00031                                 transitions={'succeeded':'VERIFY', 'failed':'overall_failed', 'preempted':'overall_failed'})
00032                         smach.StateMachine.add('VERIFY', VerifyObjectByName(),
00033                                 transitions={'succeeded':'overall_succeeded', 'failed':'overall_failed', 'not_completed':'overall_failed', 'preempted':'overall_failed'})
00034                         #smach.StateMachine.add('UPDATE', Map360(),
00035                         #       transitions={'succeeded':'overall_succeeded', 'failed':'overall_failed'})
00036                 try:
00037                         SM.execute()
00038                 except:
00039                         error_message = "Unexpected error:", sys.exc_info()[0]
00040                         print error_message
00041                         #self.fail(error_message)
00042 
00043 # main
00044 if __name__ == '__main__':
00045     test = TestStates()
00046     test.test_update_map()


srs_states
Author(s): Georg Arbeiter
autogenerated on Mon Oct 6 2014 08:34:06