# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
# Puts the robot into rotation for 10 seconds. The simplest motors test.
import roslib
roslib.load_manifest('kobuki_testsuite')
import rospy
from kobuki_testsuite import RotateTest
if __name__ == '__main__':
rospy.init_node('test_rotate')
cmdvel_topic = '/mobile_base/commands/velocity'
log_topic = '/log'
rotator = RotateTest(cmdvel_topic, log_topic)
rospy.loginfo("Start to rotate")
rotator.start()
rospy.sleep(10)
rospy.loginfo("Stop rotating")
rotator.stop()
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
# Puts the robot into continual rotation - useful for aging/battery tests.
import roslib
roslib.load_manifest("kobuki_testsuite")
import rospy
from kobuki_testsuite import RotateTest
if __name__ == "__main__":
rospy.init_node("test_rotate")
cmdvel_topic = "/mobile_base/commands/velocity"
log_topic = "/log"
rotator = RotateTest(cmdvel_topic, log_topic)
rotator.start()