Moved and split run_test_utils

CMakeLists.txt

@@ -157,7 +157,6 @@ IF(BUILD_PYTHON_INTERFACE)
   IF(BUILD_TEST)
     INSTALL(FILES python/${SOTTALOSBALANCE_PYNAME}/test/__init__.py
                   python/${SOTTALOSBALANCE_PYNAME}/test/link_state_publisher.py
-                  python/${SOTTALOSBALANCE_PYNAME}/test/run_test_utils.py
                   python/${SOTTALOSBALANCE_PYNAME}/test/test_COMTraj_checkfeedback.py
                   python/${SOTTALOSBALANCE_PYNAME}/test/test_ffSubscriber.py
                   python/${SOTTALOSBALANCE_PYNAME}/test/test_zmpEstimator.py
@@ -178,6 +177,8 @@ IF(BUILD_PYTHON_INTERFACE)
                   python/${SOTTALOSBALANCE_PYNAME}/utils/plot_utils.py
                   python/${SOTTALOSBALANCE_PYNAME}/utils/sot_utils.py
                   python/${SOTTALOSBALANCE_PYNAME}/utils/filter_utils.py
+                  python/${SOTTALOSBALANCE_PYNAME}/utils/run_test_utils.py
+                  python/${SOTTALOSBALANCE_PYNAME}/utils/gazebo_utils.py
                   DESTINATION ${PYTHON_SITELIB}/${SOTTALOSBALANCE_PYNAME}/utils)
   ENDIF(BUILD_UTILS)
 ENDIF(BUILD_PYTHON_INTERFACE)

python/sot_talos_balance/test/test_COMTraj.py

-from sot_talos_balance.test.run_test_utils import run_test, runCommandClient
+from sot_talos_balance.utils.run_test_utils import run_test, runCommandClient
 from time import sleep
 
 run_test('appli_COMTraj.py')

python/sot_talos_balance/test/test_dcmZmpControl.py

@@ -14,7 +14,7 @@ from sot_talos_balance.create_entities_utils import addTrace, dump_tracer
 import matplotlib.pyplot as plt
 import numpy as np
 
-from sot_talos_balance.test.run_test_utils import apply_force
+from sot_talos_balance.utils.gazebo_utils import apply_force
 
 def main(robot):
     dt = robot.timeStep;

python/sot_talos_balance/utils/gazebo_utils.py

+'''This module contains utilities for interacting with Gazebo.'''
+
+import rospy
+
+from gazebo_msgs.srv import ApplyBodyWrench
+from geometry_msgs.msg import Wrench
+
+def apply_force(force,duration, body_name = "talos::torso_2_link"):
+    '''Gazebo service call for applying a force on a body.'''
+    rospy.wait_for_service('/gazebo/apply_body_wrench')
+    apply_body_wrench_proxy = rospy.ServiceProxy('/gazebo/apply_body_wrench',ApplyBodyWrench)
+    wrench          = Wrench()
+    wrench.force.x  = force[0]
+    wrench.force.y  = force[1]
+    wrench.force.z  = force[2]
+    wrench.torque.x = 0
+    wrench.torque.y = 0
+    wrench.torque.z = 0
+    apply_body_wrench_proxy(body_name = body_name, wrench = wrench, duration = rospy.Duration(duration))

python/sot_talos_balance/test/run_test_utils.py → python/sot_talos_balance/utils/run_test_utils.py

@@ -7,9 +7,6 @@ from std_srvs.srv import *
 from dynamic_graph_bridge.srv import *
 from dynamic_graph_bridge_msgs.srv import *
 
-from gazebo_msgs.srv import ApplyBodyWrench
-from geometry_msgs.msg import Wrench
-
 runCommandClient = rospy.ServiceProxy('run_command', RunCommand)
 
 def launch_script(code,title,description = ""):
@@ -49,15 +46,3 @@ def run_test(appli):
     except rospy.ServiceException, e:
         rospy.logerr("Service call failed: %s" % e)
 
-def apply_force(force,duration, body_name = "talos::torso_2_link"):
-    '''Gazebo service call for applying a force on a body.'''
-    rospy.wait_for_service('/gazebo/apply_body_wrench')
-    apply_body_wrench_proxy = rospy.ServiceProxy('/gazebo/apply_body_wrench',ApplyBodyWrench)
-    wrench          = Wrench()
-    wrench.force.x  = force[0]
-    wrench.force.y  = force[1]
-    wrench.force.z  = force[2]
-    wrench.torque.x = 0
-    wrench.torque.y = 0
-    wrench.torque.z = 0
-    apply_body_wrench_proxy(body_name = body_name, wrench = wrench, duration = rospy.Duration(duration))