def talker(message_name, number_of_cycles):
from message_fixtures import get_test_msg
import rclpy
from rclpy.impl.rmw_implementation_tools import select_rmw_implementation
from rclpy.qos import qos_profile_default
message_pkg = 'test_communication'
module = importlib.import_module(message_pkg + '.msg')
msg_mod = getattr(module, message_name)
select_rmw_implementation(os.environ['RCLPY_IMPLEMENTATION'])
rclpy.init([])
node = rclpy.create_node('talker')
chatter_pub = node.create_publisher(msg_mod,
'test_message_' + message_name,
qos_profile_default)
cycle_count = 0
print('talker: beginning loop')
msgs = get_test_msg(message_name)
while rclpy.ok() and cycle_count < number_of_cycles:
cycle_count += 1
msg_count = 0
for msg in msgs:
chatter_pub.publish(msg)
msg_count += 1
print('publishing message #%d' % msg_count)
time.sleep(1)
rclpy.shutdown()
def talker(message_name, number_of_cycles):
from message_fixtures import get_test_msg
import rclpy
from rclpy.qos import qos_profile_default
message_pkg = 'test_communication'
module = importlib.import_module(message_pkg + '.msg')
msg_mod = getattr(module, message_name)
rclpy.init([])
node = rclpy.create_node('talker')
chatter_pub = node.create_publisher(msg_mod,
'test_message_' + message_name,
qos_profile_default)
cycle_count = 0
print('talker: beginning loop')
msgs = get_test_msg(message_name)
while rclpy.ok() and cycle_count < number_of_cycles:
msg_count = 0
for msg in msgs:
chatter_pub.publish(msg)
msg_count += 1
print('publishing message #%d' % msg_count)
time.sleep(0.01)
cycle_count += 1
time.sleep(0.1)
rclpy.shutdown()
def listener(message_name):
from message_fixtures import get_test_msg
import rclpy
message_pkg = 'test_communication'
module = importlib.import_module(message_pkg + '.msg')
msg_mod = getattr(module, message_name)
rclpy.init(args=[])
node = rclpy.create_node('listener')
received_messages = []
expected_msgs = get_test_msg(message_name)
chatter_callback = functools.partial(listener_cb,
received_messages=received_messages,
expected_msgs=expected_msgs)
node.create_subscription(msg_mod, 'test_message_' + message_name,
chatter_callback)
spin_count = 1
print('subscriber: beginning loop')
while (rclpy.ok() and len(received_messages) != len(expected_msgs)):
rclpy.spin_once(node)
spin_count += 1
print('spin_count: ' + str(spin_count))
node.destroy_node()
rclpy.shutdown()
assert len(received_messages) == len(expected_msgs),\
'Should have received {} {} messages from talker'.format(len(expected_msgs), message_name)
def talker(message_name, rmw_implementation, number_of_cycles):
import rclpy
from rclpy.qos import qos_profile_default
from rclpy.impl.rmw_implementation_tools import select_rmw_implementation
from message_fixtures import get_test_msg
message_pkg = 'test_communication'
module = importlib.import_module(message_pkg + '.msg')
msg_mod = getattr(module, message_name)
select_rmw_implementation(rmw_implementation)
rclpy.init([])
node = rclpy.create_node('talker')
chatter_pub = node.create_publisher(
msg_mod, 'test_message_' + message_name, qos_profile_default)
cycle_count = 0
print('talker: beginning loop')
msgs = get_test_msg(message_name)
while rclpy.ok() and cycle_count < number_of_cycles:
cycle_count += 1
msg_count = 0
for msg in msgs:
chatter_pub.publish(msg)
msg_count += 1
print('publishing message #%d' % msg_count)
time.sleep(0.1)
time.sleep(1)
rclpy.shutdown()
def listener(message_name, number_of_cycles):
from message_fixtures import get_test_msg
import rclpy
from rclpy.impl.rmw_implementation_tools import select_rmw_implementation
from rclpy.qos import qos_profile_default
message_pkg = 'test_communication'
module = importlib.import_module(message_pkg + '.msg')
msg_mod = getattr(module, message_name)
select_rmw_implementation(os.environ['RCLPY_IMPLEMENTATION'])
rclpy.init([])
node = rclpy.create_node('listener')
received_messages = []
expected_msgs = get_test_msg(message_name)
chatter_callback = functools.partial(listener_cb,
received_messages=received_messages,
expected_msgs=expected_msgs)
node.create_subscription(msg_mod, 'test_message_' + message_name,
chatter_callback, qos_profile_default)
spin_count = 1
print('subscriber: beginning loop')
while (rclpy.ok() and spin_count < number_of_cycles
and len(received_messages) != len(expected_msgs)):
rclpy.spin_once(node)
spin_count += 1
print('spin_count: ' + str(spin_count))
rclpy.shutdown()
assert len(received_messages) == len(expected_msgs),\
'Should have received {} {} messages from talker'.format(len(expected_msgs), message_name)
def listener(message_name, rmw_implementation, number_of_cycles):
import rclpy
from rclpy.qos import qos_profile_default
from rclpy.impl.rmw_implementation_tools import select_rmw_implementation
from message_fixtures import get_test_msg
message_pkg = 'test_communication'
module = importlib.import_module(message_pkg + '.msg')
msg_mod = getattr(module, message_name)
select_rmw_implementation(rmw_implementation)
rclpy.init([])
node = rclpy.create_node('listener')
received_messages = []
expected_msgs = get_test_msg(message_name)
chatter_callback = functools.partial(
listener_cb, received_messages=received_messages, expected_msgs=expected_msgs)
node.create_subscription(
msg_mod, 'test_message_' + message_name, chatter_callback,
qos_profile_default)
spin_count = 1
print('subscriber: beginning loop')
while (rclpy.ok() and spin_count < number_of_cycles and
len(received_messages) != len(expected_msgs)):
rclpy.spin_once(node)
spin_count += 1
rclpy.shutdown()
assert len(received_messages) == len(expected_msgs),\
'Should have received {} {} messages from talker'.format(len(expected_msgs), message_name)