From 979741d9e932b2b405f23f0b8e9c731f9108745a Mon Sep 17 00:00:00 2001
From: Kei Okada <k-okada@jsk.t.u-tokyo.ac.jp>
Date: Mon, 3 Mar 2014 12:47:51 +0900
Subject: [PATCH 1/2] add test to check import waitInput works, see
 https://github.com/start-jsk/hrpsys/commit/953c69c862108d82af8678d97928c7eccd868747

---
 test/test-hrpsys.test   |  1 +
 test/test-hrpsysconf.py | 20 ++++++++++++++++++++
 2 files changed, 21 insertions(+)
 create mode 100755 test/test-hrpsysconf.py

diff --git a/test/test-hrpsys.test b/test/test-hrpsys.test
index 24afa7a6..a46549a7 100644
--- a/test/test-hrpsys.test
+++ b/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>
\ No newline at end of file
diff --git a/test/test-hrpsysconf.py b/test/test-hrpsysconf.py
new file mode 100755
index 00000000..d9731f8a
--- /dev/null
+++ b/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)

From 525669cd4df3546dfee3227247346e8544e6aad4 Mon Sep 17 00:00:00 2001
From: Kei Okada <k-okada@jsk.t.u-tokyo.ac.jp>
Date: Mon, 3 Mar 2014 14:05:44 +0900
Subject: [PATCH 2/2] add test-simulator.test, use h.init(robotname=) to
 specify PA10 controller, fix to avoid
 https://github.com/start-jsk/hrpsys/commit/7e78dbcea4aa0bd73e46dcb1e3af49d5179f97bd

---
 catkin.cmake             |  1 +
 test/test-jointangle.py  |  2 +-
 test/test-simulator.test | 13 +++++++++++++
 3 files changed, 15 insertions(+), 1 deletion(-)
 create mode 100644 test/test-simulator.test

diff --git a/catkin.cmake b/catkin.cmake
index 60a608d1..5673bb76 100644
--- a/catkin.cmake
+++ b/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)
 
diff --git a/test/test-jointangle.py b/test/test-jointangle.py
index 0f3838c7..71ef4c0c 100755
--- a/test/test-jointangle.py
+++ b/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()
diff --git a/test/test-simulator.test b/test/test-simulator.test
new file mode 100644
index 00000000..d4ac8bf0
--- /dev/null
+++ b/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>
\ No newline at end of file