Example #1
0
 def setUpClass(self):
     rospy.init_node('pau2motors_test')
     wait_for('pau2motors')
     os.system(
         'rosrun dynamic_reconfigure dynparam set /pau2motors reload True')
     self.queue = MessageQueue()
     self.pub = rospy.Publisher('/listen_topic', pau, queue_size=1)
Example #2
0
    def setUp(self):
        self.run_id = 'test_perception'
        config = roslaunch.config.ROSLaunchConfig()
        config.add_node(
            core.Node(package='perception',
                      node_type='joint_state_publisher.py',
                      name='state_publisher'))

        self.joints = [
            'Eyes_Pitch', 'Eye_L', 'Eye_R', 'roll_base_joint',
            'pitch_base_joint', 'yaw_joint', 'roll_neck_joint',
            'pitch_neck_joint'
        ]
        config.add_param(
            core.Param('/state_publisher/pau_joints', ';'.join(self.joints)))
        config.add_node(
            core.Node(package='perception',
                      node_type='faces_tf2_broadcaster.py',
                      name='faces_broadcaster'))
        self.runner = roslaunch.launch.ROSLaunchRunner(self.run_id,
                                                       config,
                                                       is_rostest=True)
        self.runner.launch()

        for node in config.nodes:
            wait_for('%s/%s' % (node.namespace, node.name))
Example #3
0
    def setUp(self):
        self.run_id = 'test_perception'
        config = roslaunch.config.ROSLaunchConfig()
        config.add_node(
            core.Node(
                package='perception', node_type='joint_state_publisher.py',
                name='state_publisher')
            )

        self.joints = ['Eyes_Pitch', 'Eye_L', 'Eye_R', 'roll_base_joint',
                    'pitch_base_joint', 'yaw_joint', 'roll_neck_joint',
                    'pitch_neck_joint']
        config.add_param(core.Param('/state_publisher/pau_joints',
                                    ';'.join(self.joints)))
        config.add_node(
            core.Node(
                package='perception', node_type='faces_tf2_broadcaster.py',
                name='faces_broadcaster')
            )
        self.runner = roslaunch.launch.ROSLaunchRunner(
            self.run_id, config, is_rostest=True)
        self.runner.launch()

        for node in config.nodes:
            wait_for('%s/%s' % (node.namespace, node.name))
Example #4
0
    def setUp(self):
        blender_api_path = os.path.join(rospkg.RosPack().get_path("blender_api_msgs"), "../blender_api")
        config = roslaunch.config.ROSLaunchConfig()
        config.add_node(
            core.Node(
                package="blender_api_msgs",
                node_type="blender",
                args="-y %s/Sophia.blend -P %s/autostart.py" % (blender_api_path, blender_api_path),
                name="blender_api",
            )
        )
        self.runner = roslaunch.launch.ROSLaunchRunner(self.run_id, config, is_rostest=True)
        self.runner.launch()

        for node in config.nodes:
            wait_for("%s/%s" % (node.namespace, node.name))

        time.sleep(5)  # Wait for blender rendering done
Example #5
0
    def setUp(self):
        blender_api_path = os.path.join(
            rospkg.RosPack().get_path('blender_api_msgs'), '../blender_api')
        config = roslaunch.config.ROSLaunchConfig()
        config.add_node(
            core.Node(package='blender_api_msgs',
                      node_type='blender',
                      args='-y %s/Sophia.blend -P %s/autostart.py' %
                      (blender_api_path, blender_api_path),
                      name='blender_api'))
        self.runner = roslaunch.launch.ROSLaunchRunner(self.run_id,
                                                       config,
                                                       is_rostest=True)
        self.runner.launch()

        for node in config.nodes:
            wait_for('%s/%s' % (node.namespace, node.name))

        time.sleep(5)  # Wait for blender rendering done
Example #6
0
 def setUpClass(self):
     rospy.init_node('pau2motors_test')
     wait_for('pau2motors')
     os.system('rosrun dynamic_reconfigure dynparam set /pau2motors reload True')
     self.queue = MessageQueue()
     self.pub = rospy.Publisher('/listen_topic', pau, queue_size=1)