def __init__(self):
self.node_name = 'average_quacks_node'
rospy.loginfo("[%s] has started", self.node_name)
# Setup the publisher and subscriber
self.sub_list = rospy.Subscriber("~list", Float32MultiArray, self.listCallback)
self.pub_quacks = rospy.Publisher("~number_of_quacks", Int32, queue_size=1)
# Setup the quacker
self.quacker = Quacker()
def __init__(self):
self.node_name = 'duckiecall_node'
# Setup the publisher and subscriber
self.sub_num_of_quacks = rospy.Subscriber("~number_of_quacks", Int32,
self.quacksCallback)
self.pub_duckiecall = rospy.Publisher("~duckiecall",
String,
queue_size=1)
# Setup the quacker
self.quacker = Quacker()
rospy.loginfo("[%s] has started", self.node_name)
def __init__(self):
self.node_name = 'duckiecall_node'
# Setup the publisher and subscriber
self.sub_num_of_quacks = rospy.Subscriber("~number_of_quacks", Int32, self.quacksCallback)
self.pub_duckiecall = rospy.Publisher("~duckiecall", String, queue_size=1)
# Setup the quacker
self.quacker = Quacker()
rospy.loginfo("[%s] has started", self.node_name)
class AverageQuacksNode(object):
def __init__(self):
self.node_name = 'average_quacks_node'
rospy.loginfo("[%s] has started", self.node_name)
# Setup the publisher and subscriber
self.sub_list = rospy.Subscriber("~list", Float32MultiArray, self.listCallback)
self.pub_quacks = rospy.Publisher("~number_of_quacks", Int32, queue_size=1)
# Setup the quacker
self.quacker = Quacker()
def listCallback(self, msg):
msg_num_of_quacks = Int32()
msg_num_of_quacks.data = self.quacker.rounded_mean(msg.data)
self.pub_quacks.publish(msg_num_of_quacks)
class DuckiecallNode(object):
def __init__(self):
self.node_name = 'duckiecall_node'
# Setup the publisher and subscriber
self.sub_num_of_quacks = rospy.Subscriber("~number_of_quacks", Int32, self.quacksCallback)
self.pub_duckiecall = rospy.Publisher("~duckiecall", String, queue_size=1)
# Setup the quacker
self.quacker = Quacker()
rospy.loginfo("[%s] has started", self.node_name)
def quacksCallback(self, msg_quacks):
msg_duckiecall = String()
msg_duckiecall.data = self.quacker.get_quack_string(msg_quacks.data)
self.pub_duckiecall.publish(msg_duckiecall)
class DuckiecallNode(object):
def __init__(self):
self.node_name = 'duckiecall_node'
# Setup the publisher and subscriber
self.sub_num_of_quacks = rospy.Subscriber("~number_of_quacks", Int32,
self.quacksCallback)
self.pub_duckiecall = rospy.Publisher("~duckiecall",
String,
queue_size=1)
# Setup the quacker
self.quacker = Quacker()
rospy.loginfo("[%s] has started", self.node_name)
def quacksCallback(self, msg_quacks):
msg_duckiecall = String()
msg_duckiecall.data = self.quacker.get_quack_string(msg_quacks.data)
self.pub_duckiecall.publish(msg_duckiecall)
def test_get_quack_string(self):
quacker = Quacker("Quack!")
msg = quacker.get_quack_string(3)
self.assertEqual(msg, "Quack! Quack! Quack!")
def test_rounded_average(self):
quacker = Quacker()
x = quacker.rounded_mean([1, 1, 2, 3]) # Average is 7/4 ~ 2
self.assertEqual(x,2)
def test_quacker_default_quack(self):
quacker = Quacker()
self.assertEqual(quacker.quack, "Quack!")
def test_rounded_average(self):
quacker = Quacker()
x = quacker.rounded_mean([1, 1, 2, 3]) # Average is 7/4 ~ 2
self.assertEqual(x, 2)
def test_get_quack_string(self):
quacker = Quacker("Quack!")
msg = quacker.get_quack_string(3)
self.assertEqual(msg, "Quack! Quack! Quack!")
