def test_lcm(self): dut = DrakeLcm() self.assertIsInstance(dut, DrakeLcmInterface) # Quickly start and stop the receiving thread. dut.StartReceiveThread() dut.StopReceiveThread() # Test virtual function names. dut.Publish dut.HandleSubscriptions
def test_lcm(self): dut = DrakeLcm() self.assertIsInstance(dut, DrakeLcmInterface) # Quickly start and stop the receiving thread. dut.StartReceiveThread() dut.StopReceiveThread()
LcmPublisherSystem.Make('EST_ROBOT_STATE', robot_state_t, lcm)) robot_state_publisher.set_name('robot_state_publisher') robot_state_publisher.set_publish_period(1e-3) # Robot State Encoder robot_state_output = builder.AddSystem(RobotStateOutput()) # force_sensor_info robot_state_output.set_name('robot_state_output') builder.Connect(robot_state_output.lcm_message_output_port(), robot_state_publisher.get_input_port(0)) diagram = builder.Build() # while(True): # pub_context = diagram.GetMutableSubsystemContext(robot_state_publisher, diagram_context) # robot_state_publisher.Publish(pub_context) # simulation setting diagram_context = diagram.CreateDefaultContext() simulator = Simulator(diagram, diagram_context) simulator.set_publish_every_time_step(False) simulator.set_target_realtime_rate(1) simulator.Initialize() simulation_time = 10 lcm.StartReceiveThread() simulator.StepTo(100) lcm.StopReceiveThread()