def testsimple(self): return client = ActionClient('reference_action', TestAction) self.assert_(client.wait_for_action_server_to_start(rospy.Duration(2.0)), 'Could not connect to the action server') goal = TestGoal(1) client.send_goal(goal) self.assert_(client.wait_for_goal_to_finish(rospy.Duration(2.0)), "Goal didn't finish") self.assertEqual(GoalStatus.SUCCEEDED, client.get_terminal_state()) self.assertEqual(GoalStatus.SUCCEEDED, client.get_state()) goal = TestGoal(2) client.send_goal(goal) self.assert_(client.wait_for_goal_to_finish(rospy.Duration(10.0)), "Goal didn't finish") self.assertEqual(GoalStatus.ABORTED, client.get_terminal_state()) self.assertEqual(GoalStatus.ABORTED, client.get_state())