1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
|
#!/usr/bin/env python3
PKG = 'nodelet_topic_tools'
import roslib; roslib.load_manifest(PKG)
import unittest
import threading
import rospy
from std_msgs.msg import String
class TestNodeletThrottle(unittest.TestCase):
def __init__(self, *args):
super(TestNodeletThrottle, self).__init__(*args)
self._lock = threading.RLock()
self._msgs_rec = 0
self._pub = rospy.Publisher('string_in', String)
self._sub = rospy.Subscriber('string_out', String, self._cb)
def _cb(self, msg):
with self._lock:
self._msgs_rec += 1
def test_nodelet_throttle(self):
for i in range(0,10):
self._pub.publish(String('hello, world'))
rospy.sleep(1.0)
self.assert_(self._msgs_rec > 0, "No messages received from nodelet throttle on topic \"string_out\"")
if __name__ == '__main__':
rospy.init_node('test_nodelet_throttle')
import rostest
rostest.rosrun(PKG, 'test_nodelet_throttle', TestNodeletThrottle)
|
