def setUpClass(self):
rospy.init_node('pau2motors_test')
wait_for('pau2motors')
os.system(
'rosrun dynamic_reconfigure dynparam set /pau2motors reload True')
self.queue = MessageQueue()
self.pub = rospy.Publisher('/listen_topic', pau, queue_size=1)
def setUp(self):
self.run_id = 'test_perception'
config = roslaunch.config.ROSLaunchConfig()
config.add_node(
core.Node(package='perception',
node_type='joint_state_publisher.py',
name='state_publisher'))
self.joints = [
'Eyes_Pitch', 'Eye_L', 'Eye_R', 'roll_base_joint',
'pitch_base_joint', 'yaw_joint', 'roll_neck_joint',
'pitch_neck_joint'
]
config.add_param(
core.Param('/state_publisher/pau_joints', ';'.join(self.joints)))
config.add_node(
core.Node(package='perception',
node_type='faces_tf2_broadcaster.py',
name='faces_broadcaster'))
self.runner = roslaunch.launch.ROSLaunchRunner(self.run_id,
config,
is_rostest=True)
self.runner.launch()
for node in config.nodes:
wait_for('%s/%s' % (node.namespace, node.name))
def setUp(self):
self.run_id = 'test_perception'
config = roslaunch.config.ROSLaunchConfig()
config.add_node(
core.Node(
package='perception', node_type='joint_state_publisher.py',
name='state_publisher')
)
self.joints = ['Eyes_Pitch', 'Eye_L', 'Eye_R', 'roll_base_joint',
'pitch_base_joint', 'yaw_joint', 'roll_neck_joint',
'pitch_neck_joint']
config.add_param(core.Param('/state_publisher/pau_joints',
';'.join(self.joints)))
config.add_node(
core.Node(
package='perception', node_type='faces_tf2_broadcaster.py',
name='faces_broadcaster')
)
self.runner = roslaunch.launch.ROSLaunchRunner(
self.run_id, config, is_rostest=True)
self.runner.launch()
for node in config.nodes:
wait_for('%s/%s' % (node.namespace, node.name))
def setUp(self):
blender_api_path = os.path.join(rospkg.RosPack().get_path("blender_api_msgs"), "../blender_api")
config = roslaunch.config.ROSLaunchConfig()
config.add_node(
core.Node(
package="blender_api_msgs",
node_type="blender",
args="-y %s/Sophia.blend -P %s/autostart.py" % (blender_api_path, blender_api_path),
name="blender_api",
)
)
self.runner = roslaunch.launch.ROSLaunchRunner(self.run_id, config, is_rostest=True)
self.runner.launch()
for node in config.nodes:
wait_for("%s/%s" % (node.namespace, node.name))
time.sleep(5) # Wait for blender rendering done
def setUp(self):
blender_api_path = os.path.join(
rospkg.RosPack().get_path('blender_api_msgs'), '../blender_api')
config = roslaunch.config.ROSLaunchConfig()
config.add_node(
core.Node(package='blender_api_msgs',
node_type='blender',
args='-y %s/Sophia.blend -P %s/autostart.py' %
(blender_api_path, blender_api_path),
name='blender_api'))
self.runner = roslaunch.launch.ROSLaunchRunner(self.run_id,
config,
is_rostest=True)
self.runner.launch()
for node in config.nodes:
wait_for('%s/%s' % (node.namespace, node.name))
time.sleep(5) # Wait for blender rendering done
def setUpClass(self):
rospy.init_node('pau2motors_test')
wait_for('pau2motors')
os.system('rosrun dynamic_reconfigure dynparam set /pau2motors reload True')
self.queue = MessageQueue()
self.pub = rospy.Publisher('/listen_topic', pau, queue_size=1)