23 lines
600 B
Python
Executable File
23 lines
600 B
Python
Executable File
#!/usr/bin/env python
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import rospy
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from sensor_msgs.msg import Range
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import unittest
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class TestRangePlugin(unittest.TestCase):
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def test_max_range(self):
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msg = rospy.wait_for_message('/sonar2', Range)
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self.assertAlmostEqual(msg.range, msg.max_range)
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def test_inside_range(self):
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msg = rospy.wait_for_message('/sonar', Range)
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self.assertTrue(msg.range < 0.25 and msg.range > 0.22)
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if __name__ == '__main__':
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import rostest
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PKG_NAME = 'gazebo_plugins'
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TEST_NAME = PKG_NAME + 'range_test'
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rospy.init_node(TEST_NAME)
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rostest.rosrun(PKG_NAME, TEST_NAME, TestRangePlugin)
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