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Unverified Commit 8ee8f6ae authored by Guilhem Saurel's avatar Guilhem Saurel Committed by GitHub
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Merge pull request #24 from stack-of-tasks/topic/python3 

Topic/python3
parents 642d6cdc 78eb2d96
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CMakeLists.txt
View file @ 8ee8f6ae
......@@ -35,7 +35,6 @@ SET(CATKIN_REQUIRED_COMPONENTS
rospy
talos_gazebo
roscontrol_sot_talos
dynamic_graph_bridge_msgs
)
find_package(catkin REQUIRED COMPONENTS
......@@ -77,5 +76,5 @@ if(CATKIN_ENABLE_TESTING)
find_package(rostest REQUIRED)
add_rostest(tests/test_kine.test)
add_rostest(tests/test_sot_talos_balance.test)
add_rostest(tests/test_online_walking.test)
add_rostest(tests/test_online_walking.test)
endif()
scripts/start_sot_online_walking.py
View file @ 8ee8f6ae
......@@ -2,44 +2,40 @@
# O. Stasse 17/01/2020
# LAAS, CNRS
import os
import rospy
import math
import time
import roslaunch
import rospkg
import unittest
import math
from gazebo_msgs.srv import *
import roslaunch
import rospkg
import rospy
from gazebo_msgs.srv import GetModelState
from std_srvs.srv import Empty
PKG_NAME='talos_integration_tests'
PKG_NAME = 'talos_integration_tests'
class TestSoTTalos(unittest.TestCase):
class TestSoTTalos(unittest.TestCase):
def validation_through_gazebo(self):
gzGetModelPropReq = rospy.ServiceProxy('/gazebo/get_model_state',
GetModelState)
gzGetModelPropReq = rospy.ServiceProxy('/gazebo/get_model_state', GetModelState)
gzGetModelPropResp = gzGetModelPropReq(model_name='talos')
f=open("/tmp/output.dat","w+")
f.write("x:"+str(gzGetModelPropResp.pose.position.x)+"\n")
f.write("y:"+str(gzGetModelPropResp.pose.position.y)+"\n")
f.write("z:"+str(gzGetModelPropResp.pose.position.z)+"\n")
f = open("/tmp/output.dat", "w+")
f.write("x:" + str(gzGetModelPropResp.pose.position.x) + "\n")
f.write("y:" + str(gzGetModelPropResp.pose.position.y) + "\n")
f.write("z:" + str(gzGetModelPropResp.pose.position.z) + "\n")
# dx depends on the timing of the simulation
# which can be different from one computer to another.
# Therefore check only dy and dz.
dx=0.0;
dy=gzGetModelPropResp.pose.position.y-0.0038
dz=gzGetModelPropResp.pose.position.z-1.00152
ldistance = math.sqrt(dx*dx+dy*dy+dz*dz)
f.write("dist:"+str(ldistance))
dx = 0.0
dy = gzGetModelPropResp.pose.position.y - 0.0038
dz = gzGetModelPropResp.pose.position.z - 1.00152
ldistance = math.sqrt(dx * dx + dy * dy + dz * dz)
f.write("dist:" + str(ldistance))
f.close()
if ldistance<0.05:
self.assertTrue(True,msg="Converged to the desired position")
if ldistance < 0.05:
self.assertTrue(True, msg="Converged to the desired position")
else:
self.assertFalse(True,
msg="Did not converged to the desired position")
self.assertFalse(True, msg="Did not converged to the desired position")
def runTest(self):
# Start roscore
......@@ -56,66 +52,57 @@ class TestSoTTalos(unittest.TestCase):
uuid = roslaunch.rlutil.get_or_generate_uuid(None, False)
roslaunch.configure_logging(uuid)
cli_args = [talos_data_path+'/launch/talos_gazebo_alone.launch',
'world:=empty_forced',
'enable_leg_passive:=false'
]
cli_args = [
talos_data_path + '/launch/talos_gazebo_alone.launch', 'world:=empty_forced', 'enable_leg_passive:=false'
]
roslaunch_args = cli_args[1:]
roslaunch_file = [(roslaunch.rlutil.resolve_launch_arguments\
(cli_args)[0], roslaunch_args)]
roslaunch_file = [(roslaunch.rlutil.resolve_launch_arguments(cli_args)[0], roslaunch_args)]
launch_gazebo_alone = roslaunch.parent.\
ROSLaunchParent(uuid, roslaunch_file)
launch_gazebo_alone = roslaunch.parent.ROSLaunchParent(uuid, roslaunch_file)
launch_gazebo_alone.start()
rospy.loginfo("talos_gazebo_alone started")
rospy.wait_for_service("/gazebo/pause_physics")
gazebo_pause_physics = rospy.ServiceProxy('/gazebo/pause_physics',
Empty)
gazebo_pause_physics = rospy.ServiceProxy('/gazebo/pause_physics', Empty)
gazebo_pause_physics()
time.sleep(5)
# Spawn talos model in gazebo
launch_gazebo_spawn_hs = roslaunch.parent.ROSLaunchParent(uuid,\
[talos_data_path+'/launch/talos_gazebo_spawn_hs.launch'])
#launch_gazebo_spawn_hs = roslaunch.parent.ROSLaunchParent(uuid,
launch_gazebo_spawn_hs = roslaunch.parent.ROSLaunchParent(
uuid, [talos_data_path + '/launch/talos_gazebo_spawn_hs.launch'])
# launch_gazebo_spawn_hs = roslaunch.parent.ROSLaunchParent(uuid,
# [ros_data_path+'/launch/talos_gazebo_spawn_hs_wide.launch'])
launch_gazebo_spawn_hs.start()
rospy.loginfo("talos_gazebo_spawn_hs started")
rospy.wait_for_service("/gains/arm_left_1_joint/set_parameters")
time.sleep(5)
gazebo_unpause_physics = rospy.\
ServiceProxy('/gazebo/unpause_physics', Empty)
gazebo_unpause_physics = rospy.ServiceProxy('/gazebo/unpause_physics', Empty)
gazebo_unpause_physics()
# Start roscontrol
launch_bringup = roslaunch.parent.ROSLaunchParent(uuid,\
[talos_data_path+'/launch/talos_bringup.launch'])
launch_bringup = roslaunch.parent.ROSLaunchParent(uuid, [talos_data_path + '/launch/talos_bringup.launch'])
launch_bringup.start()
rospy.loginfo("talos_bringup started")
# Start sot
roscontrol_sot_talos_path=arospack.get_path('roscontrol_sot_talos')
launch_roscontrol_sot_talos =roslaunch.parent.ROSLaunchParent(uuid,\
[roscontrol_sot_talos_path+\
'/launch/sot_talos_controller_gazebo.launch'])
roscontrol_sot_talos_path = arospack.get_path('roscontrol_sot_talos')
launch_roscontrol_sot_talos = roslaunch.parent.ROSLaunchParent(
uuid, [roscontrol_sot_talos_path + '/launch/sot_talos_controller_gazebo.launch'])
launch_roscontrol_sot_talos.start()
rospy.loginfo("roscontrol_sot_talos started")
time.sleep(5)
pkg_name='talos_integration_tests'
executable='test_online_walking.py'
node_name='test_online_walking_py'
test_sot_online_walking_node = roslaunch.core.\
Node(pkg_name, executable,name=node_name)
pkg_name = 'talos_integration_tests'
executable = 'test_online_walking.py'
node_name = 'test_online_walking_py'
test_sot_online_walking_node = roslaunch.core.Node(pkg_name, executable, name=node_name)
launch_test_sot_online_walking=roslaunch.scriptapi.ROSLaunch()
launch_test_sot_online_walking = roslaunch.scriptapi.ROSLaunch()
launch_test_sot_online_walking.start()
test_sot_online_walking_process = launch_test_sot_online_walking.\
launch(test_sot_online_walking_node)
test_sot_online_walking_process = launch_test_sot_online_walking.launch(test_sot_online_walking_node)
r = rospy.Rate(10)
while not rospy.is_shutdown():
......@@ -124,13 +111,12 @@ class TestSoTTalos(unittest.TestCase):
self.validation_through_gazebo()
# If it is finished then find exit status.
if test_sot_online_walking_process.exit_code != 0:
exit_status = "test_online_walking failed"
self.assertFalse(True,exit_status)
self.assertFalse(True, exit_status)
else:
exit_status=None
exit_status = None
print("Stopping SoT")
launch_roscontrol_sot_talos.shutdown()
......@@ -145,6 +131,7 @@ class TestSoTTalos(unittest.TestCase):
r.sleep()
if __name__ == '__main__':
import rosunit
rosunit.unitrun(PKG_NAME,'test_online_walking',TestSoTTalos)
rosunit.unitrun(PKG_NAME, 'test_online_walking', TestSoTTalos)
scripts/start_sot_talos_balance.py
View file @ 8ee8f6ae
......@@ -2,41 +2,40 @@
# O. Stasse 17/01/2020
# LAAS, CNRS
import os
import rospy
import math
import time
import roslaunch
import rospkg
import unittest
import math
from gazebo_msgs.srv import *
import rospkg
from gazebo_msgs.srv import GetModelState
import roslaunch
import rospy
from std_srvs.srv import Empty
PKG_NAME='talos_integration_tests'
PKG_NAME = 'talos_integration_tests'
class TestSoTTalos(unittest.TestCase):
def validation_through_gazebo(self):
gzGetModelPropReq = rospy.ServiceProxy('/gazebo/get_model_state',
GetModelState)
class TestSoTTalos(unittest.TestCase):
def validation_through_gazebo(self, x=2.8331, y=0.0405, z=1.0019):
gzGetModelPropReq = rospy.ServiceProxy('/gazebo/get_model_state', GetModelState)
gzGetModelPropResp = gzGetModelPropReq(model_name='talos')
f=open("/tmp/output.dat","w+")
f.write("x:"+str(gzGetModelPropResp.pose.position.x)+"\n")
f.write("y:"+str(gzGetModelPropResp.pose.position.y)+"\n")
f.write("z:"+str(gzGetModelPropResp.pose.position.z)+"\n")
dx=gzGetModelPropResp.pose.position.x-2.8331
dy=gzGetModelPropResp.pose.position.y-0.0405
dz=gzGetModelPropResp.pose.position.z-1.0019
ldistance = math.sqrt(dx*dx+dy*dy+dz*dz)
f.write("dist:"+str(ldistance))
f.close()
if ldistance<0.009:
self.assertTrue(True,msg="Converged to the desired position")
dx = gzGetModelPropResp.pose.position.x - x
# No compensation of the angular momentum creates huge drifts along the Y-axis
# so this axis is not relevant for repeatible tests.
# dy = gzGetModelPropResp.pose.position.y - y
dy = 0
dz = gzGetModelPropResp.pose.position.z - z
ldistance = math.sqrt(dx * dx + dy * dy + dz * dz)
with open("/tmp/output.dat", "a") as f:
f.write("x: %f\n" % gzGetModelPropResp.pose.position.x)
f.write("y: %f\n" % gzGetModelPropResp.pose.position.y)
f.write("z: %f\n" % gzGetModelPropResp.pose.position.z)
f.write("dist: %f\n" % ldistance)
if ldistance < 0.09:
self.assertTrue(True, msg="Converged to the desired position")
else:
self.assertFalse(True,
msg="Did not converged to the desired position")
self.assertFalse(True, msg="Did not converged to the desired position")
def runTest(self):
# Start roscore
......@@ -53,10 +52,9 @@ class TestSoTTalos(unittest.TestCase):
uuid = roslaunch.rlutil.get_or_generate_uuid(None, False)
roslaunch.configure_logging(uuid)
cli_args = [talos_data_path+'/launch/talos_gazebo_alone.launch',
'world:=empty_forced',
'enable_leg_passive:=false'
]
cli_args = [
talos_data_path + '/launch/talos_gazebo_alone.launch', 'world:=empty_forced', 'enable_leg_passive:=false'
]
roslaunch_args = cli_args[1:]
roslaunch_file = [(roslaunch.rlutil.resolve_launch_arguments(cli_args)[0], roslaunch_args)]
......@@ -65,52 +63,46 @@ class TestSoTTalos(unittest.TestCase):
rospy.loginfo("talos_gazebo_alone started")
rospy.wait_for_service("/gazebo/pause_physics")
gazebo_pause_physics = rospy.ServiceProxy('/gazebo/pause_physics',
Empty)
gazebo_pause_physics = rospy.ServiceProxy('/gazebo/pause_physics', Empty)
gazebo_pause_physics()
time.sleep(5)
# Spawn talos model in gazebo
launch_gazebo_spawn_hs = roslaunch.parent.ROSLaunchParent(uuid,\
[talos_data_path+'/launch/talos_gazebo_spawn_hs.launch'])
#launch_gazebo_spawn_hs = roslaunch.parent.ROSLaunchParent(uuid,
launch_gazebo_spawn_hs = roslaunch.parent.ROSLaunchParent(
uuid, [talos_data_path + '/launch/talos_gazebo_spawn_hs.launch'])
# launch_gazebo_spawn_hs = roslaunch.parent.ROSLaunchParent(uuid,
# [ros_data_path+'/launch/talos_gazebo_spawn_hs_wide.launch'])
launch_gazebo_spawn_hs.start()
rospy.loginfo("talos_gazebo_spawn_hs started")
rospy.wait_for_service("/gains/arm_left_1_joint/set_parameters")
time.sleep(5)
gazebo_unpause_physics = rospy.\
ServiceProxy('/gazebo/unpause_physics', Empty)
gazebo_unpause_physics = rospy.ServiceProxy('/gazebo/unpause_physics', Empty)
gazebo_unpause_physics()
# Start roscontrol
launch_bringup = roslaunch.parent.ROSLaunchParent(uuid,\
[talos_data_path+'/launch/talos_bringup.launch'])
launch_bringup = roslaunch.parent.ROSLaunchParent(uuid, [talos_data_path + '/launch/talos_bringup.launch'])
launch_bringup.start()
rospy.loginfo("talos_bringup started")
# Start sot
roscontrol_sot_talos_path=arospack.get_path('roscontrol_sot_talos')
launch_roscontrol_sot_talos =roslaunch.parent.ROSLaunchParent(uuid,\
[roscontrol_sot_talos_path+\
'/launch/sot_talos_controller_gazebo.launch'])
roscontrol_sot_talos_path = arospack.get_path('roscontrol_sot_talos')
launch_roscontrol_sot_talos = roslaunch.parent.ROSLaunchParent(
uuid, [roscontrol_sot_talos_path + '/launch/sot_talos_controller_gazebo.launch'])
launch_roscontrol_sot_talos.start()
rospy.loginfo("roscontrol_sot_talos started")
time.sleep(5)
pkg_name='talos_integration_tests'
executable='test_sot_talos_balance.py'
node_name='test_sot_talos_balance_py'
test_sot_talos_balance_node = roslaunch.core.\
Node(pkg_name, executable,name=node_name)
pkg_name = 'talos_integration_tests'
executable = 'test_sot_talos_balance.py'
node_name = 'test_sot_talos_balance_py'
test_sot_talos_balance_node = roslaunch.core.Node(pkg_name, executable, name=node_name)
launch_test_sot_talos_balance=roslaunch.scriptapi.ROSLaunch()
launch_test_sot_talos_balance = roslaunch.scriptapi.ROSLaunch()
launch_test_sot_talos_balance.start()
test_sot_talos_balance_process = launch_test_sot_talos_balance.\
launch(test_sot_talos_balance_node)
test_sot_talos_balance_process = launch_test_sot_talos_balance.launch(test_sot_talos_balance_node)
r = rospy.Rate(10)
while not rospy.is_shutdown():
......@@ -119,13 +111,12 @@ class TestSoTTalos(unittest.TestCase):
self.validation_through_gazebo()
# If it is finished then find exit status.
if test_sot_talos_balance_process.exit_code != 0:
exit_status = "test_sot_talos_balance failed"
self.assertFalse(True,exit_status)
self.assertFalse(True, exit_status)
else:
exit_status=None
exit_status = None
print("Stopping SoT")
launch_roscontrol_sot_talos.shutdown()
......@@ -140,6 +131,7 @@ class TestSoTTalos(unittest.TestCase):
r.sleep()
if __name__ == '__main__':
import rosunit
rosunit.unitrun(PKG_NAME,'test_sot_talos_balance',TestSoTTalos)
rosunit.unitrun(PKG_NAME, 'test_sot_talos_balance', TestSoTTalos)
scripts/start_talos_gazebo.py
View file @ 8ee8f6ae
......@@ -2,16 +2,14 @@
# O. Stasse 17/01/2020
# LAAS, CNRS
import os
import rospy
import subprocess
import time
import roslaunch
import rospkg
import rospy
from std_srvs.srv import Empty
# Start roscore
import subprocess
roscore = subprocess.Popen('roscore')
time.sleep(1)
......@@ -24,10 +22,7 @@ rospy.init_node('starting_talos_gazebo', anonymous=True)
uuid = roslaunch.rlutil.get_or_generate_uuid(None, False)
roslaunch.configure_logging(uuid)
cli_args = [talos_data_path+'/launch/talos_gazebo_alone.launch',
'world:=empty_forced',
'enable_leg_passive:=false'
]
cli_args = [talos_data_path + '/launch/talos_gazebo_alone.launch', 'world:=empty_forced', 'enable_leg_passive:=false']
roslaunch_args = cli_args[1:]
roslaunch_file = [(roslaunch.rlutil.resolve_launch_arguments(cli_args)[0], roslaunch_args)]
......@@ -42,8 +37,8 @@ gazebo_pause_physics()
time.sleep(5)
# Spawn talos model in gazebo
launch_gazebo_spawn_hs = roslaunch.parent.ROSLaunchParent(uuid,
[talos_data_path+'/launch/talos_gazebo_spawn_hs.launch'])
#launch_gazebo_spawn_hs = roslaunch.parent.ROSLaunchParent(uuid,
[talos_data_path + '/launch/talos_gazebo_spawn_hs.launch'])
# launch_gazebo_spawn_hs = roslaunch.parent.ROSLaunchParent(uuid,
# [talos_data_path+'/launch/talos_gazebo_spawn_hs_wide.launch'])
launch_gazebo_spawn_hs.start()
rospy.loginfo("talos_gazebo_spawn_hs started")
......@@ -54,18 +49,15 @@ gazebo_unpause_physics = rospy.ServiceProxy('/gazebo/unpause_physics', Empty)
gazebo_unpause_physics()
# Start roscontrol
launch_bringup = roslaunch.parent.ROSLaunchParent(uuid,
[talos_data_path+'/launch/talos_bringup.launch'])
launch_bringup = roslaunch.parent.ROSLaunchParent(uuid, [talos_data_path + '/launch/talos_bringup.launch'])
launch_bringup.start()
rospy.loginfo("talos_bringup started")
# Start sot
roscontrol_sot_talos_path=arospack.get_path('roscontrol_sot_talos')
launch_roscontrol_sot_talos =roslaunch.parent.ROSLaunchParent(uuid,
[roscontrol_sot_talos_path+'/launch/sot_talos_controller_gazebo.launch'])
roscontrol_sot_talos_path = arospack.get_path('roscontrol_sot_talos')
launch_roscontrol_sot_talos = roslaunch.parent.ROSLaunchParent(
uuid, [roscontrol_sot_talos_path + '/launch/sot_talos_controller_gazebo.launch'])
launch_roscontrol_sot_talos.start()
rospy.loginfo("roscontrol_sot_talos started")
rospy.spin()
scripts/start_talos_gazebo_kine.py
View file @ 8ee8f6ae
......@@ -2,35 +2,32 @@
# O. Stasse 17/01/2020
# LAAS, CNRS
import os
import rospy
import math
import time
import roslaunch
import rospkg
import unittest
import math
from gazebo_msgs.srv import *
import roslaunch
import rospkg
import rospy
from gazebo_msgs.srv import GetLinkState
from std_srvs.srv import Empty
PKG_NAME='talos_integration_tests'
PKG_NAME = 'talos_integration_tests'
class TestSoTTalos(unittest.TestCase):
def validation_through_gazebo(self):
gzGetLinkPropReq = rospy.ServiceProxy('/gazebo/get_link_state',GetLinkState)
gzGetLinkPropReq = rospy.ServiceProxy('/gazebo/get_link_state', GetLinkState)
gzGetLinkPropResp = gzGetLinkPropReq(link_name='gripper_right_fingertip_1_link')
f=open("/tmp/output.dat","w+")
f.write("x:"+str(gzGetLinkPropResp.link_state.pose.position.x)+"\n")
f.write("y:"+str(gzGetLinkPropResp.link_state.pose.position.y)+"\n")
f.write("z:"+str(gzGetLinkPropResp.link_state.pose.position.z)+"\n")
dx=gzGetLinkPropResp.link_state.pose.position.x-0.5723
dy=gzGetLinkPropResp.link_state.pose.position.y+0.2885
dz=gzGetLinkPropResp.link_state.pose.position.z-0.7745
ldistance = math.sqrt(dx*dx+dy*dy+dz*dz)
f.write("dist:"+str(ldistance))
f = open("/tmp/output.dat", "w+")
f.write("x:" + str(gzGetLinkPropResp.link_state.pose.position.x) + "\n")
f.write("y:" + str(gzGetLinkPropResp.link_state.pose.position.y) + "\n")
f.write("z:" + str(gzGetLinkPropResp.link_state.pose.position.z) + "\n")
dx = gzGetLinkPropResp.link_state.pose.position.x - 0.5723
dy = gzGetLinkPropResp.link_state.pose.position.y + 0.2885
dz = gzGetLinkPropResp.link_state.pose.position.z - 0.7745
ldistance = math.sqrt(dx * dx + dy * dy + dz * dz)
f.write("dist:" + str(ldistance))
f.close()
if ldistance < 0.009:
......@@ -38,7 +35,6 @@ class TestSoTTalos(unittest.TestCase):
else:
self.assertTrue(False)
def runTest(self):
# Start roscore
import subprocess
......@@ -54,9 +50,10 @@ class TestSoTTalos(unittest.TestCase):
uuid = roslaunch.rlutil.get_or_generate_uuid(None, False)
roslaunch.configure_logging(uuid)
cli_args = [talos_data_path+'/launch/talos_gazebo_alone.launch',
'world:=empty_forced',
'enable_leg_passive:=false',
cli_args = [
talos_data_path + '/launch/talos_gazebo_alone.launch',
'world:=empty_forced',
'enable_leg_passive:=false',
]
roslaunch_args = cli_args[1:]
roslaunch_file = [(roslaunch.rlutil.resolve_launch_arguments(cli_args)[0], roslaunch_args)]
......@@ -71,40 +68,37 @@ class TestSoTTalos(unittest.TestCase):
time.sleep(5)
# Spawn talos model in gazebo
launch_gazebo_spawn_hs = roslaunch.parent.ROSLaunchParent(uuid,\
[talos_data_path+'/launch/talos_gazebo_spawn_hs.launch'])
#launch_gazebo_spawn_hs = roslaunch.parent.ROSLaunchParent(uuid,
launch_gazebo_spawn_hs = roslaunch.parent.ROSLaunchParent(
uuid, [talos_data_path + '/launch/talos_gazebo_spawn_hs.launch'])
# launch_gazebo_spawn_hs = roslaunch.parent.ROSLaunchParent(uuid,
# [talos_data_path+'/launch/talos_gazebo_spawn_hs_wide.launch'])
launch_gazebo_spawn_hs.start()
rospy.loginfo("talos_gazebo_spawn_hs started")
rospy.wait_for_service("/gains/arm_left_1_joint/set_parameters")
time.sleep(5)
gazebo_unpause_physics = \
rospy.ServiceProxy('/gazebo/unpause_physics', Empty)
gazebo_unpause_physics = rospy.ServiceProxy('/gazebo/unpause_physics', Empty)
gazebo_unpause_physics()
# Start roscontrol
launch_bringup = roslaunch.parent.ROSLaunchParent(uuid,\
[talos_data_path+'/launch/talos_bringup.launch'])
launch_bringup = roslaunch.parent.ROSLaunchParent(uuid, [talos_data_path + '/launch/talos_bringup.launch'])
launch_bringup.start()
rospy.loginfo("talos_bringup started")
# Start sot
roscontrol_sot_talos_path=arospack.get_path('roscontrol_sot_talos')
launch_roscontrol_sot_talos =roslaunch.parent.ROSLaunchParent(uuid,\
[roscontrol_sot_talos_path+\
'/launch/sot_talos_controller_gazebo.launch'])
roscontrol_sot_talos_path = arospack.get_path('roscontrol_sot_talos')
launch_roscontrol_sot_talos = roslaunch.parent.ROSLaunchParent(
uuid, [roscontrol_sot_talos_path + '/launch/sot_talos_controller_gazebo.launch'])
launch_roscontrol_sot_talos.start()
rospy.loginfo("roscontrol_sot_talos started")
time.sleep(5)
pkg_name='talos_integration_tests'
executable='test_kine.py'
node_name='test_kine_py'
test_kine_node = roslaunch.core.Node(pkg_name, executable,name=node_name)
pkg_name = 'talos_integration_tests'
executable = 'test_kine.py'
node_name = 'test_kine_py'
test_kine_node = roslaunch.core.Node(pkg_name, executable, name=node_name)
launch_test_kine=roslaunch.scriptapi.ROSLaunch()
launch_test_kine = roslaunch.scriptapi.ROSLaunch()
launch_test_kine.start()
test_kine_process = launch_test_kine.launch(test_kine_node)
......@@ -120,7 +114,7 @@ class TestSoTTalos(unittest.TestCase):
if test_kine_process.exit_code != 0:
exit_status = "test_sot_talos_balance failed"
else:
exit_status=None
exit_status = None
print("Stopping SoT")
launch_roscontrol_sot_talos.shutdown()
......@@ -138,4 +132,4 @@ class TestSoTTalos(unittest.TestCase):
if __name__ == '__main__':
import rosunit
rosunit.unitrun(PKG_NAME,'test_sot_talos_kine',TestSoTTalos)
rosunit.unitrun(PKG_NAME, 'test_sot_talos_kine', TestSoTTalos)
scripts/test_appli_seq_play.py
View file @ 8ee8f6ae
#!/usr/bin/python
import sys
import rospy
from dynamic_graph_bridge_msgs.srv import RunCommand
from std_srvs.srv import Empty
try:
# Python 2
input = raw_input
except NameError:
pass
from std_srvs.srv import *
from dynamic_graph_bridge_msgs.srv import *
def launchScript(code,title,description = ""):
raw_input(title+': '+description)
def launchScript(code, title, description=""):
input(title + ': ' + description)
rospy.loginfo(title)
rospy.loginfo(code)
for line in code:
if line != '' and line[0] != '#':
print line