Go to the documentation of this file.00001
00002
00003
00004
00005
00006
00007
00008
00009
00010
00011
00012
00013
00014
00015
00016
00017
00018
00019
00020
00021
00022
00023
00024
00025
00026
00027
00028
00029
00030
00031
00032
00033
00034
00035
00036
00037
00038 import unittest
00039
00040 import rostest
00041
00042 from nextage_ros_bridge import nextage_client
00043
00044 _GOINITIAL_TIME_MIDSPEED = 3
00045 _PKG = 'nextage_ros_bridge'
00046
00047
00048 class TestNxoGripper(unittest.TestCase):
00049 '''
00050 Test NextageClient with rostest. This does NOT test hardware (i.e. if DIO
00051 is connected and functioning); instead, this only verifies if the
00052 software works as to the given hardware spec.
00053
00054 For tests involving hardware, follow
00055 https://github.com/start-jsk/rtmros_hironx/issues/272.
00056 '''
00057
00058 @classmethod
00059 def setUpClass(cls):
00060 cls._robot = nextage_client.NextageClient()
00061 cls._robot.init()
00062 cls._robot.goInitial(_GOINITIAL_TIME_MIDSPEED)
00063
00064
00065 cls._robot_04 = nextage_client.NextageClient()
00066 cls._robot_04.set_hand_version(version=cls._robot_04.HAND_VER_0_4_2)
00067 cls._robot_04.init()
00068 cls._robot_04.goInitial(_GOINITIAL_TIME_MIDSPEED)
00069
00070 def test_gripper_l_close(self):
00071 result = self._robot._hands.gripper_l_close()
00072 result = self._robot_04.gripper_l_close() and result
00073 self.assertTrue(result)
00074
00075 def test_gripper_r_close(self):
00076 result = self._robot._hands.gripper_r_close()
00077 result = self._robot_04.gripper_r_close() and result
00078 self.assertTrue(result)
00079
00080 def test_gripper_l_open(self):
00081 result = self._robot._hands.gripper_l_open()
00082 result = self._robot_04.gripper_l_open() and result
00083 self.assertTrue(result)
00084
00085 def test_gripper_r_open(self):
00086 result = self._robot._hands.gripper_r_open()
00087 result = self._robot_04.gripper_r_open() and result
00088 self.assertTrue(result)
00089
00090 if __name__ == '__main__':
00091 rostest.rosrun(_PKG, 'test_nxo_gripper', TestNxoGripper)