def test_get_publisher_unknown(self):
topic = 'unknown_type'
topic_type_str = self.topics_and_types[topic]
pub_map = LanguageToMessageTranslator.get_publisher(
topic, topic_type_str)
self.assertIsNotNone(pub_map)
self.assertEqual(0, len(pub_map))
def test_get_publisher_float(self):
topic = 'not/a/global/topic'
topic_type_str = self.topics_and_types[topic]
pub_map = LanguageToMessageTranslator.get_publisher(
topic, topic_type_str)
self.assertIsNotNone(pub_map)
self.assertEqual(1, len(pub_map))
self.assertTrue(topic in pub_map)
pub = pub_map[topic]
self.assertIsInstance(pub, rospy.Publisher)
self.assertEqual('std_msgs/Float32', pub.type)