def test_setparam_service(self):
from rosbridge_library.rosbridge_protocol import RosbridgeProtocol
param = Param("/test_param")
test_protocol=RosbridgeProtocol(88)
def outgoing(message):
print("ROSBRidge Outgoing: {}".format(message))
test_protocol.outgoing=outgoing
test_protocol.incoming(param.set_command(885))
def test_advertise_service(self):
from rosbridge_library.rosbridge_protocol import RosbridgeProtocol
test_protocol=RosbridgeProtocol(88)
def outgoing(message):
print("ROSBRidge Outgoing: {}".format(message))
test_protocol.incoming('{"op": "service_response", "service": "/test_service", "values": {"value": "88"}, "result": true, "id": "service_request:/test_service:1"}')
test_protocol.outgoing=outgoing
service = Service("/test_service",type="rosapi/GetParam")
test_protocol.incoming(service.advertise_command())
def test_rosbridge_false_subscription(self):
from std_msgs.msg import String
pub = rospy.Publisher("/test", String, queue_size=10,latch=True)
pub.publish("dada")
from rosbridge_library.rosbridge_protocol import RosbridgeProtocol
test_protocol=RosbridgeProtocol(88)
def outgoing(message):
print("ROSBRidge Outgoing: {}".format(message))
test_protocol.outgoing=outgoing
topic=Topic("/test","sensor_msgs/Image")
test_protocol.incoming(topic.advertise_command())
def test_rosbridgeprotocol(self):
from rosbridge_library.rosbridge_protocol import RosbridgeProtocol
test_protocol=RosbridgeProtocol(88)
def outgoing(message):
print("ROSBRidge Outgoing: {}".format(message))
test_protocol.outgoing=outgoing
with open('sample_config.json', 'r') as outfile:
sample_config = outfile.read()
parser = ConfigParser(sample_config)
commands = parser.parse()
test_protocol.incoming(commands[1])
def test_scan_topic(self):
with open('sample_scan.txt', 'r') as outfile:
sample_scan = outfile.read()
from rosbridge_library.rosbridge_protocol import RosbridgeProtocol
test_protocol = RosbridgeProtocol(88)
def outgoing(message):
print("ROSBRidge Outgoing: {}".format(message))
test_protocol.outgoing = outgoing
topic = Topic("/scan", "sensor_msgs/LaserScan", latch=False)
test_protocol.incoming(topic.advertise_command())
test_protocol.incoming(sample_scan)
def test_service_handler(self):
from rosbridge_library.rosbridge_protocol import RosbridgeProtocol
test_protocol=RosbridgeProtocol(88)
service_handler=ServiceHandler(test_protocol)
def outgoing(message):
service_handler.callback(message)
print("ROSBRidge Outgoing: {}".format(message))
test_protocol.outgoing=outgoing
if not rospy.has_param("/test_param"):
rospy.set_param('/test_param', 88)
param = Param("/test_param")
result = yield service_handler.execute(param.get_command())
print("result is {}".format(result))
def main(args=None):
server_url = os.environ.get('ROWMA_SERVER_URL',
'https://rowma.moriokalab.com')
sio.connect(server_url)
signal.signal(signal.SIGINT, signal_handler)
signal.pause()
client_id_seed = 0
protocol = RosbridgeProtocol(client_id_seed, rowma)
protocol.outgoing = outgoing_func
rclpy.spin(rowma)
# Destroy the node explicitly
# (optional - otherwise it will be done automatically
# when the garbage collector destroys the node object)
rowma.destroy_node()
rclpy.shutdown()
