test_range.py

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#!/usr/bin/env python
import rospy
from sensor_msgs.msg import Range
 
import unittest
 
class TestRangePlugin(unittest.TestCase):
 
  def test_max_range(self):
    msg = rospy.wait_for_message('/sonar2', Range)
    self.assertAlmostEqual(msg.range, msg.max_range)
 
  def test_inside_range(self):
    msg = rospy.wait_for_message('/sonar', Range)
    self.assertTrue(msg.range < 0.25 and msg.range > 0.22, 'actual value: {0}'.format(msg.range))
 
if __name__ == '__main__':
  import rostest
  PKG_NAME = 'gazebo_plugins'
  TEST_NAME = PKG_NAME + 'range_test'
  rospy.init_node(TEST_NAME)
  rostest.rosrun(PKG_NAME, TEST_NAME, TestRangePlugin)