def run_param_manipulation():
ros_client = Ros('127.0.0.1', 9090)
def delete_param_done(_):
ros_client._test_param_del = True
def get_param_done(value):
ros_client._test_param_value = value
delete_param = Param(ros_client, 'test_param')
delete_param.delete(delete_param_done)
def set_param_done(_):
ros_client._test_param_set = True
check_param = Param(ros_client, 'test_param')
check_param.get(get_param_done)
param = Param(ros_client, 'test_param')
param.set('test_value', set_param_done)
def verify():
assert(ros_client._test_param_set is True)
assert(ros_client._test_param_value == 'test_value')
assert(ros_client._test_param_del is True)
ros_client.terminate()
ros_client.call_later(1, verify)
ros_client.run_forever()
def run_add_two_ints_service():
ros_client = Ros('127.0.0.1', 9090)
service = Service(ros_client, '/test_server', 'rospy_tutorials/AddTwoInts')
def dispose_server():
service.unadvertise()
service.ros.call_later(1, service.ros.terminate)
def add_two_ints(request, response):
response['sum'] = request['a'] + request['b']
if response['sum'] == 42:
service.ros.call_later(2, dispose_server)
return True
def check_sum(result):
assert (result['sum'] == 42)
def invoke_service():
client = Service(ros_client, '/test_server',
'rospy_tutorials/AddTwoInts')
client.call(ServiceRequest({'a': 2, 'b': 40}), check_sum, print)
service.advertise(add_two_ints)
ros_client.call_later(1, invoke_service)
ros_client.run_event_loop()
def run_tf_test():
ros_client = Ros('127.0.0.1', 9090)
tf_client = TFClient(ros_client, fixed_frame='world')
def callback(message):
assert message['translation'] == dict(
x=0.0, y=0.0, z=0.0), 'Unexpected translation received'
assert message['rotation'] == dict(
x=0.0, y=0.0, z=0.0, w=1.0), 'Unexpected rotation received'
ros_client.terminate()
tf_client.subscribe(frame_id='/world', callback=callback)
ros_client.call_later(2, ros_client.terminate)
ros_client.run_forever()
