Merge pull request #23 from k-okada/master

add test to check import waitInput works

catkin.cmake

@@ -185,4 +185,5 @@ install(CODE
 add_rostest(test/test-hrpsys.test)
 add_rostest(test/test-colcheck.test)
 add_rostest(test/test-pa10.test)
+add_rostest(test/test-simulator.test)
 

test/test-hrpsys.test

@@ -19,4 +19,5 @@
 
   <test test-name="config_hostname" pkg="hrpsys" type="test-hostname.py" />
   <test test-name="pkgconfig" pkg="hrpsys" type="test-pkgconfig.py" />
+  <test test-name="hrpsys_config" pkg="hrpsys" type="test-hrpsysconf.py" />
 </launch>

test/test-hrpsysconf.py

@@ -0,0 +1,20 @@
+#!/usr/bin/env python
+
+PKG = 'hrpsys'
+NAME = 'test-waitinput'
+
+import roslib; roslib.load_manifest('hrpsys')
+from hrpsys import hrpsys_config
+
+import unittest, sys
+
+class TestHrpsysConfig(unittest.TestCase):
+
+    def test_import_waitinput(self):
+        # https://github.com/start-jsk/rtmros_hironx/blob/groovy-devel/hironx_ros_bridge/src/hironx_ros_bridge/hironx_client.py
+        from waitInput import waitInputConfirm, waitInputSelect
+        self.assertTrue(True)
+
+if __name__ == '__main__':
+    import rostest
+    rostest.run(PKG, NAME, TestHrpsysConfig, sys.argv)

test/test-jointangle.py

@@ -31,7 +31,7 @@ class TestJointAngle(unittest.TestCase):
     @classmethod
     def setUpClass(self):
         h = PA10()
-        h.init()
+        h.init(robotname="PA10Controller(Robot)0")
 
     def test_get_joint_angles(self):
         h = PA10()

test/test-simulator.test

@@ -0,0 +1,13 @@
+<launch>
+  <!-- BEGIN:common setting -->
+  <env name="LANG" value="C" />
+  <env name="ORBgiopMaxMsgSize" value="2147483648" />
+  <!-- END:common setting -->
+
+  <node name="modelloader" pkg="openhrp3" type="openhrp-model-loader" output="screen"/>
+  <node name="hrpsys" pkg="hrpsys" type="hrpsys-simulator"
+        args='$(find hrpsys)/share/hrpsys/samples/PA10/PA10simulation.xml -o manager.is_master:YES -o naming.formats:%n.rtc -o exec_cxt.periodic.rate:1000000 -o manager.shutdown_onrtcs:NO -o manager.modules.load_path:$(find hrpsys)/lib -o manager.modules.preload:HGcontroller.so -o manager.components.precreate:HGcontroller -o exec_cxt.periodic.type:SynchExtTriggerEC -f $(find hrpsys)/share/hrpsys/samples/PA10/rtc.conf -o "example.RobotHardware.config_file:$(find hrpsys)/share/hrpsys/samples/PA10/RobotHardware.conf" -o "example.SequencePlayer.config_file:$(find hrpsys)/share/hrpsys/samples/PA10/PA10.conf" -o "example.StateHolder.config_file:$(find hrpsys)/share/hrpsys/samples/PA10/PA10.conf" -o "example.ForwardKinematics.config_file:$(find hrpsys)/share/hrpsys/samples/PA10/PA10.conf" -o "corba.nameservers:localhost:2809" -nodisplay -endless'
+        output="screen"  cwd="node" />
+
+  <test test-name="test_jointangle" pkg="hrpsys" type="test-jointangle.py" />
+</launch>