def test_send_two_goals_parallel(self):
timer1 = TimerGoal()
timer2 = TimerGoal()
timer1.duration = 1.0
timer2.duration = 1.0
start = time.time()
# Send both goals
gh1 = self.client.send_goal(timer1)
gh2 = self.client.send_goal(timer2)
result1 = self.client.wait_for_result(
gh1, timeout=rospy.Duration.from_sec(1.1))
result2 = self.client.wait_for_result(
gh2, timeout=rospy.Duration.from_sec(1.1))
end = time.time()
duration = end - start
self.assertEqual(result1, True)
self.assertEqual(result2, True)
def test_is_tracking_goal(self):
timer = TimerGoal()
timer.duration = 0.1
gh1 = self.client.send_goal(timer)
tracking = self.client.is_tracking_goal(gh1)
self.assertEqual(tracking, True)
def test_get_goal_id(self):
timer = TimerGoal()
timer.duration = 0.1
gh1 = self.client.send_goal(timer)
goal_id = self.client.goal_id(gh1)
self.assertIsNotNone(goal_id)