clearpath_tests.estop_test module

class clearpath_tests.estop_test.EstopTestNode(*args: Any, **kwargs: Any)

Bases: ClearpathTestNode

Ensure e-stop works correctly.

cmd_vel_timer_callback()

command_wheels()

estop_callback(msg: std_msgs.msg.Bool)

run_test()

Run this node interactively, prompting the user for input.

This function must be implemented by all children

@return An array of TestResults describing the results

run_ui()

start()

Run this node normally as a standard ROS node without any user interaction.

This function must be implemented by all children

wait_for_estop(state, timeout_seconds=10)

Wait for the e-stop state to enter the specified state.

@param state The desired state of the e-stop @param timeout_seconds The maximum number of seconds to wait

@return True if the e-stop state is in the desired state, otherwise False

clearpath_tests.estop_test.main()