def ros(request): try: logging.loginfo(u'deleting tmp test folder') shutil.rmtree(folder_name) except Exception: pass logging.loginfo(u'init ros') rospy.init_node(u'tests') tf_init(60) # launch = roslaunch.scriptapi.ROSLaunch() # launch.start() # rospy.set_param('/joint_trajectory_splitter/state_topics', # ['/whole_body_controller/body/state']) # rospy.set_param('/joint_trajectory_splitter/client_topics', # ['/whole_body_controller/body/follow_joint_trajectory']) # node = roslaunch.core.Node('giskardpy', 'joint_trajectory_splitter.py', name='joint_trajectory_splitter') # joint_trajectory_splitter = launch.launch(node) def kill_ros(): # joint_trajectory_splitter.stop() # rospy.delete_param('/joint_trajectory_splitter/state_topics') # rospy.delete_param('/joint_trajectory_splitter/client_topics') logging.loginfo(u'shutdown ros') rospy.signal_shutdown(u'die') try: logging.loginfo(u'deleting tmp test folder') shutil.rmtree(folder_name) except Exception: pass request.addfinalizer(kill_ros)
def ros(): try: logging.loginfo(u'deleting tmp test folder') except Exception: pass logging.loginfo(u'init ros') rospy.init_node(u'tests') tf_init(60) launch = roslaunch.scriptapi.ROSLaunch() launch.start() rospy.set_param('/joint_trajectory_splitter/state_topics', [ '/whole_body_controller/base/state', '/whole_body_controller/body/state' ]) rospy.set_param('/joint_trajectory_splitter/client_topics', [ '/whole_body_controller/base/follow_joint_trajectory', '/whole_body_controller/body/follow_joint_trajectory' ]) node = roslaunch.core.Node('giskardpy', 'joint_trajectory_splitter.py', name='joint_trajectory_splitter') joint_trajectory_splitter = launch.launch(node) yield joint_trajectory_splitter.stop() rospy.delete_param('/joint_trajectory_splitter/state_topics') rospy.delete_param('/joint_trajectory_splitter/client_topics') logging.loginfo(u'shutdown ros') rospy.signal_shutdown(u'die') try: logging.loginfo(u'deleting tmp test folder') except Exception: pass
def ros(request): print(u'init ros') # shutil.rmtree(u'../data/') rospy.init_node(u'tests') tf_init(60) def kill_ros(): print(u'shutdown ros') rospy.signal_shutdown(u'die') request.addfinalizer(kill_ros)
def ros(request): try: logging.loginfo(u'deleting tmp test folder') # shutil.rmtree(folder_name) except Exception: pass logging.loginfo(u'init ros') rospy.init_node(u'tests') tf_init(60) def kill_ros(): logging.loginfo(u'shutdown ros') rospy.signal_shutdown(u'die') try: logging.loginfo(u'deleting tmp test folder') # shutil.rmtree(folder_name) except Exception: pass request.addfinalizer(kill_ros)
def ros(request): try: logging.loginfo(u'deleting tmp test folder') # shutil.rmtree(folder_name) except Exception: pass logging.loginfo(u'init ros') rospy.init_node('tests') tf_init(60) launch = roslaunch.scriptapi.ROSLaunch() launch.start() rospy.set_param('/joint_trajectory_splitter/state_topics', ["/hsrb/arm_trajectory_controller/state", "/hsrb/omni_base_controller/state", "/hsrb/head_trajectory_controller/state"]) rospy.set_param('/joint_trajectory_splitter/client_topics', ["/hsrb/arm_trajectory_controller/follow_joint_trajectory", "/hsrb/omni_base_controller/follow_joint_trajectory", "/hsrb/head_trajectory_controller/follow_joint_trajectory"]) node = roslaunch.core.Node('giskardpy', 'joint_trajectory_splitter.py', name='joint_trajectory_splitter') joint_trajectory_splitter = launch.launch(node) def kill_ros(): joint_trajectory_splitter.stop() rospy.delete_param('/joint_trajectory_splitter/state_topics') rospy.delete_param('/joint_trajectory_splitter/client_topics') logging.loginfo(u'shutdown ros') rospy.signal_shutdown('die') try: logging.loginfo(u'deleting tmp test folder') # shutil.rmtree(folder_name) except Exception: pass request.addfinalizer(kill_ros)