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https://github.com/CopterExpress/clover.git
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1746381da1
* Add ROS service for executing shell commands * Show image version on index web page * Add test for exec service * Add shell node to clover.launch * Remake exec handling, consider exit code and exec failures
47 lines
1.3 KiB
Python
Executable File
47 lines
1.3 KiB
Python
Executable File
#!/usr/bin/env python
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import rospy
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import pytest
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from mavros_msgs.msg import State
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from clover import srv
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@pytest.fixture()
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def node():
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return rospy.init_node('clover_test', anonymous=True)
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def test_state(node):
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state = rospy.wait_for_message('mavros/state', State, timeout=10)
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assert state.connected == False
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assert state.armed == False
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assert state.guided == False
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assert state.mode == ''
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def test_simple_offboard_services_available():
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rospy.wait_for_service('get_telemetry', timeout=5)
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rospy.wait_for_service('navigate', timeout=5)
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rospy.wait_for_service('navigate_global', timeout=5)
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rospy.wait_for_service('set_position', timeout=5)
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rospy.wait_for_service('set_velocity', timeout=5)
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rospy.wait_for_service('set_attitude', timeout=5)
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rospy.wait_for_service('set_rates', timeout=5)
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rospy.wait_for_service('land', timeout=5)
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def test_web_video_server(node):
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import urllib2
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urllib2.urlopen("http://localhost:8080").read()
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def test_shell(node):
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execute = rospy.ServiceProxy('exec', srv.Execute)
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execute.wait_for_service(5)
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res = execute(cmd='echo foo')
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assert res.code == 0
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assert res.output == 'foo\n'
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res = execute(cmd='foo')
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assert res.code == 32512
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assert res.output == ''
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res = execute(cmd='ls foo')
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assert res.code == 512
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assert res.output == ''
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