talker_listener_test.py

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#!/usr/bin/env python
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# Revision $Id: gossipbot.py 1013 2008-05-21 01:08:56Z sfkwc $

## Talker/listener demo validation 

PKG = 'rospy_tutorials'
NAME = 'talker_listener_test'

import sys, unittest, time

import rospy, rostest
from std_msgs.msg import *

class TestTalkerListener(unittest.TestCase):
    def __init__(self, *args):
        super(TestTalkerListener, self).__init__(*args)
        self.success = False
        
    def callback(self, data):
        print(rospy.get_caller_id(), "I heard %s"%data.data)
        self.success = data.data and data.data.startswith('hello world')

    def test_talker_listener(self):
        rospy.init_node(NAME, anonymous=True)
        rospy.Subscriber("chatter", String, self.callback)
        timeout_t = time.time() + 10.0 #10 seconds
        while not rospy.is_shutdown() and not self.success and time.time() < timeout_t:
            time.sleep(0.1)
        self.assert_(self.success)
        
if __name__ == '__main__':
    rostest.rosrun(PKG, NAME, TestTalkerListener, sys.argv)