def testsimple(self):
client = SimpleActionClient('reference_action', TestAction)
self.assert_(
client.wait_for_action_server_to_start(rospy.Duration(10.0)),
'Could not connect to the action server')
goal = TestGoal(1)
client.send_goal(goal)
self.assert_(client.wait_for_goal_to_finish(rospy.Duration(10.0)),
"Goal didn't finish")
self.assertEqual(GoalStatus.SUCCEEDED, client.get_terminal_state())
goal = TestGoal(2)
client.send_goal(goal)
self.assert_(client.wait_for_goal_to_finish(rospy.Duration(10.0)),
"Goal didn't finish")
self.assertEqual(GoalStatus.ABORTED, client.get_terminal_state())
