v01
This commit is contained in:
Ivan
187
thirdparty/ros/ros_comm/tools/rostopic/CHANGELOG.rst
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187
thirdparty/ros/ros_comm/tools/rostopic/CHANGELOG.rst
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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Changelog for package rostopic
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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|
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1.12.14 (2018-08-23)
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--------------------
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||||
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1.12.13 (2018-02-21)
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--------------------
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||||
|
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1.12.12 (2017-11-16)
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--------------------
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1.12.11 (2017-11-07)
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--------------------
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|
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1.12.10 (2017-11-06)
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||||
--------------------
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||||
|
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1.12.9 (2017-11-06)
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-------------------
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|
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1.12.8 (2017-11-06)
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||||
-------------------
|
||||
* fix rostopic hz and bw in Python 3 (`#1126 <https://github.com/ros/ros_comm/issues/1126>`_)
|
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* update tests to match stringify changes (`#1125 <https://github.com/ros/ros_comm/issues/1125>`_)
|
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* fix rostopic prining long integers (`#1110 <https://github.com/ros/ros_comm/pull/1110>`_)
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|
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1.12.7 (2017-02-17)
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-------------------
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||||
|
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1.12.6 (2016-10-26)
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-------------------
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* fix typo of arg for _str_plot function (`#915 <https://github.com/ros/ros_comm/issues/915>`_)
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1.12.5 (2016-09-30)
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||||
-------------------
|
||||
* fix regression with rostopic echo for primitive fields from 1.12.3 (`#909 <https://github.com/ros/ros_comm/issues/909>`_)
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|
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1.12.4 (2016-09-19)
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||||
-------------------
|
||||
|
||||
1.12.3 (2016-09-17)
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||||
-------------------
|
||||
* show topic field type with rostopic type (`#860 <https://github.com/ros/ros_comm/issues/860>`_)
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* show stat for rostopic echo --noarr/nostr (`#724 <https://github.com/ros/ros_comm/pull/724>`_, `#872 <https://github.com/ros/ros_comm/pull/872>`_)
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* add support for multiple topics in rostopic hz (`#712 <https://github.com/ros/ros_comm/pull/712>`_, `#886 <https://github.com/ros/ros_comm/pull/886>`_, `#888 <https://github.com/ros/ros_comm/pull/888>`_)
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* more detailed help string for rostopic echo -p (`#816 <https://github.com/ros/ros_comm/issues/816>`_)
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1.12.2 (2016-06-03)
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-------------------
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1.12.1 (2016-04-18)
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-------------------
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1.12.0 (2016-03-18)
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-------------------
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1.11.18 (2016-03-17)
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--------------------
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1.11.17 (2016-03-11)
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||||
--------------------
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* add "rostopic delay" to measure message delay compared to the input from real world (`#719 <https://github.com/ros/ros_comm/pull/719>`_)
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* add option to perform keyword substitution for messages published with "rostopic pub" (`#702 <https://github.com/ros/ros_comm/pull/702>`_)
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* add wall-time option for rostopic hz (`#674 <https://github.com/ros/ros_comm/pull/674>`_)
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1.11.16 (2015-11-09)
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--------------------
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||||
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1.11.15 (2015-10-13)
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||||
--------------------
|
||||
* add warning to rostopic hz about simulated time (`#672 <https://github.com/ros/ros_comm/pull/672>`_)
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1.11.14 (2015-09-19)
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||||
--------------------
|
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* support specifying multiple array indices (`#606 <https://github.com/ros/ros_comm/pull/606>`_)
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* fix string type check if variable is unicode
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1.11.13 (2015-04-28)
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--------------------
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1.11.12 (2015-04-27)
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--------------------
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* fix command parsing for rosservice and rostopic to not accept arbitrary substrings of 'list' (`#609 <https://github.com/ros/ros_comm/issues/609>`_)
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1.11.11 (2015-04-16)
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--------------------
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||||
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1.11.10 (2014-12-22)
|
||||
--------------------
|
||||
* add support for fixed-width floating-point and integer array values (`#400 <https://github.com/ros/ros_comm/issues/400>`_)
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1.11.9 (2014-08-18)
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-------------------
|
||||
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1.11.8 (2014-08-04)
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||||
-------------------
|
||||
* fix handling of array index when being part of the topic (`#480 <https://github.com/ros/ros_comm/issues/480>`_)
|
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* support splice arguments in 'rostopic echo' (`#480 <https://github.com/ros/ros_comm/issues/480>`_)
|
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||||
1.11.7 (2014-07-18)
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||||
-------------------
|
||||
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||||
1.11.6 (2014-07-10)
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||||
-------------------
|
||||
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1.11.5 (2014-06-24)
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-------------------
|
||||
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1.11.4 (2014-06-16)
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||||
-------------------
|
||||
* Python 3 compatibility (`#426 <https://github.com/ros/ros_comm/issues/426>`_, `#427 <https://github.com/ros/ros_comm/issues/427>`_)
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1.11.3 (2014-05-21)
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-------------------
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* add publisher queue_size to rostopic
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1.11.2 (2014-05-08)
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-------------------
|
||||
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1.11.1 (2014-05-07)
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||||
-------------------
|
||||
* add check for message fields when determining message type (`#376 <https://github.com/ros/ros_comm/issues/376>`_)
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1.11.0 (2014-03-04)
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-------------------
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* make rostest in CMakeLists optional (`ros/rosdistro#3010 <https://github.com/ros/rosdistro/issues/3010>`_)
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* use catkin_install_python() to install Python scripts (`#361 <https://github.com/ros/ros_comm/issues/361>`_)
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1.10.0 (2014-02-11)
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||||
-------------------
|
||||
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1.9.54 (2014-01-27)
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||||
-------------------
|
||||
* fix wrong time in csv export when using 'rostopic echo -p -b' (`#330 <https://github.com/ros/ros_comm/issues/330>`_)
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1.9.53 (2014-01-14)
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-------------------
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||||
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1.9.52 (2014-01-08)
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||||
-------------------
|
||||
|
||||
1.9.51 (2014-01-07)
|
||||
-------------------
|
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|
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1.9.50 (2013-10-04)
|
||||
-------------------
|
||||
|
||||
1.9.49 (2013-09-16)
|
||||
-------------------
|
||||
|
||||
1.9.48 (2013-08-21)
|
||||
-------------------
|
||||
* fix access to array fields by index (regression of `#242 <https://github.com/ros/ros_comm/issues/242>`_ in 1.9.47)
|
||||
|
||||
1.9.47 (2013-07-03)
|
||||
-------------------
|
||||
* fix 'rostopic echo' for submessages of type uint8[] (`#242 <https://github.com/ros/ros_comm/issues/242>`_)
|
||||
* check for CATKIN_ENABLE_TESTING to enable configure without tests
|
||||
|
||||
1.9.46 (2013-06-18)
|
||||
-------------------
|
||||
|
||||
1.9.45 (2013-06-06)
|
||||
-------------------
|
||||
|
||||
1.9.44 (2013-03-21)
|
||||
-------------------
|
||||
|
||||
1.9.43 (2013-03-13)
|
||||
-------------------
|
||||
|
||||
1.9.42 (2013-03-08)
|
||||
-------------------
|
||||
* fix missing run_depend on rosbag (`#179 <https://github.com/ros/ros_comm/issues/179>`_)
|
||||
|
||||
1.9.41 (2013-01-24)
|
||||
-------------------
|
||||
|
||||
1.9.40 (2013-01-13)
|
||||
-------------------
|
||||
* add support for boolean in 'rostopic -p' (`#3948 <https://code.ros.org/trac/ros/ticket/3948>`_)
|
||||
|
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1.9.39 (2012-12-29)
|
||||
-------------------
|
||||
* first public release for Groovy
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||||
16
thirdparty/ros/ros_comm/tools/rostopic/CMakeLists.txt
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16
thirdparty/ros/ros_comm/tools/rostopic/CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
|
||||
project(rostopic)
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||||
find_package(catkin REQUIRED)
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||||
catkin_package()
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||||
|
||||
catkin_python_setup()
|
||||
|
||||
catkin_install_python(PROGRAMS scripts/rostopic
|
||||
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
|
||||
|
||||
if(CATKIN_ENABLE_TESTING)
|
||||
find_package(rostest)
|
||||
add_rostest(test/rostopic.test)
|
||||
#add_rostest(test/rostopic2.test)
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||||
catkin_add_nosetests(test/test_rostopic_command_line_offline.py)
|
||||
endif()
|
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7
thirdparty/ros/ros_comm/tools/rostopic/epydoc.config
vendored
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7
thirdparty/ros/ros_comm/tools/rostopic/epydoc.config
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||||
[epydoc]
|
||||
name: rostopic
|
||||
modules: rostopic
|
||||
inheritance: included
|
||||
url: http://ros.org/wiki/rostopic
|
||||
frames: no
|
||||
private: no
|
||||
33
thirdparty/ros/ros_comm/tools/rostopic/package.xml
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33
thirdparty/ros/ros_comm/tools/rostopic/package.xml
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|
||||
<package>
|
||||
<name>rostopic</name>
|
||||
<version>1.12.14</version>
|
||||
<description>
|
||||
rostopic contains the rostopic command-line tool for displaying
|
||||
debug information about
|
||||
ROS <a href="http://www.ros.org/wiki/Topics">Topics</a>, including
|
||||
publishers, subscribers, publishing rate,
|
||||
and ROS <a href="http://www.ros.org/wiki/Messages">Messages</a>. It also
|
||||
contains an experimental Python library for getting information about
|
||||
and interacting with topics dynamically. This library is for
|
||||
internal-use only as the code API may change, though it does provide
|
||||
examples of how to implement dynamic subscription and publication
|
||||
behaviors in ROS.
|
||||
</description>
|
||||
<maintainer email="dthomas@osrfoundation.org">Dirk Thomas</maintainer>
|
||||
<license>BSD</license>
|
||||
|
||||
<url>http://ros.org/wiki/rostopic</url>
|
||||
<author>Ken Conley</author>
|
||||
|
||||
<buildtool_depend version_gte="0.5.78">catkin</buildtool_depend>
|
||||
|
||||
<build_depend>rostest</build_depend>
|
||||
|
||||
<run_depend version_gte="0.5.4">genpy</run_depend>
|
||||
<run_depend>rosbag</run_depend>
|
||||
<run_depend>rospy</run_depend>
|
||||
|
||||
<export>
|
||||
<rosdoc config="rosdoc.yaml"/>
|
||||
</export>
|
||||
</package>
|
||||
2
thirdparty/ros/ros_comm/tools/rostopic/rosdoc.yaml
vendored
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2
thirdparty/ros/ros_comm/tools/rostopic/rosdoc.yaml
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|
||||
- builder: epydoc
|
||||
config: epydoc.config
|
||||
35
thirdparty/ros/ros_comm/tools/rostopic/scripts/rostopic
vendored
Executable file
35
thirdparty/ros/ros_comm/tools/rostopic/scripts/rostopic
vendored
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|
||||
#!/usr/bin/env python
|
||||
# Software License Agreement (BSD License)
|
||||
#
|
||||
# Copyright (c) 2008, Willow Garage, Inc.
|
||||
# All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# * Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# * Redistributions in binary form must reproduce the above
|
||||
# copyright notice, this list of conditions and the following
|
||||
# disclaimer in the documentation and/or other materials provided
|
||||
# with the distribution.
|
||||
# * Neither the name of Willow Garage, Inc. nor the names of its
|
||||
# contributors may be used to endorse or promote products derived
|
||||
# from this software without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
|
||||
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
|
||||
import rostopic
|
||||
rostopic.rostopicmain()
|
||||
13
thirdparty/ros/ros_comm/tools/rostopic/setup.py
vendored
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13
thirdparty/ros/ros_comm/tools/rostopic/setup.py
vendored
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@@ -0,0 +1,13 @@
|
||||
#!/usr/bin/env python
|
||||
|
||||
from distutils.core import setup
|
||||
from catkin_pkg.python_setup import generate_distutils_setup
|
||||
|
||||
d = generate_distutils_setup(
|
||||
packages=['rostopic'],
|
||||
package_dir={'': 'src'},
|
||||
scripts=['scripts/rostopic'],
|
||||
requires=['genmsg', 'genpy', 'roslib', 'rospkg']
|
||||
)
|
||||
|
||||
setup(**d)
|
||||
2126
thirdparty/ros/ros_comm/tools/rostopic/src/rostopic/__init__.py
vendored
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2126
thirdparty/ros/ros_comm/tools/rostopic/src/rostopic/__init__.py
vendored
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File diff suppressed because it is too large
Load Diff
178
thirdparty/ros/ros_comm/tools/rostopic/test/check_rostopic_command_line_online.py
vendored
Executable file
178
thirdparty/ros/ros_comm/tools/rostopic/test/check_rostopic_command_line_online.py
vendored
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@@ -0,0 +1,178 @@
|
||||
#!/usr/bin/env python
|
||||
# Software License Agreement (BSD License)
|
||||
#
|
||||
# Copyright (c) 2009, Willow Garage, Inc.
|
||||
# All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# * Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# * Redistributions in binary form must reproduce the above
|
||||
# copyright notice, this list of conditions and the following
|
||||
# disclaimer in the documentation and/or other materials provided
|
||||
# with the distribution.
|
||||
# * Neither the name of Willow Garage, Inc. nor the names of its
|
||||
# contributors may be used to endorse or promote products derived
|
||||
# from this software without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
|
||||
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
|
||||
import os
|
||||
import signal
|
||||
import sys
|
||||
import time
|
||||
import unittest
|
||||
|
||||
import rospy
|
||||
import rostest
|
||||
|
||||
import std_msgs.msg
|
||||
|
||||
from subprocess import Popen, PIPE, check_call, call
|
||||
|
||||
def run_for(cmd, secs):
|
||||
popen = Popen(cmd, stdout=PIPE, stderr=PIPE, close_fds=True)
|
||||
timeout_t = time.time() + secs
|
||||
while time.time() < timeout_t:
|
||||
time.sleep(0.1)
|
||||
os.kill(popen.pid, signal.SIGKILL)
|
||||
|
||||
class TestRostopicOnline(unittest.TestCase):
|
||||
|
||||
def setUp(self):
|
||||
self.vals = set()
|
||||
self.msgs = {}
|
||||
|
||||
def callback(self, msg, val):
|
||||
self.vals.add(val)
|
||||
self.msgs[val] = msg
|
||||
|
||||
def test_rostopic(self):
|
||||
topics = ['/chatter', '/foo/chatter', '/bar/chatter']
|
||||
|
||||
# wait for network to initialize
|
||||
rospy.init_node('test')
|
||||
for i, t in enumerate(topics):
|
||||
rospy.Subscriber(t, std_msgs.msg.String, self.callback, i)
|
||||
all = set(range(0, len(topics)))
|
||||
|
||||
timeout_t = time.time() + 10.
|
||||
while time.time() < timeout_t and self.vals != all:
|
||||
time.sleep(0.1)
|
||||
|
||||
# network is initialized
|
||||
cmd = 'rostopic'
|
||||
names = ['/chatter', 'foo/chatter']
|
||||
|
||||
# list
|
||||
# - we aren't matching against the core services as those can make the test suites brittle
|
||||
output = Popen([cmd, 'list'], stdout=PIPE).communicate()[0]
|
||||
output = output.decode()
|
||||
l = set(output.split())
|
||||
for t in topics:
|
||||
self.assert_(t in l)
|
||||
|
||||
for name in names:
|
||||
# type
|
||||
output = Popen([cmd, 'type', name], stdout=PIPE).communicate()[0]
|
||||
output = output.decode()
|
||||
self.assertEquals('std_msgs/String', output.strip())
|
||||
# check type of topic field
|
||||
output = Popen([cmd, 'type', name + '/data'], stdout=PIPE).communicate()[0]
|
||||
output = output.decode()
|
||||
self.assertEquals('std_msgs/String data string', output.strip())
|
||||
|
||||
# find
|
||||
output = Popen([cmd, 'find', 'std_msgs/String'], stdout=PIPE).communicate()[0]
|
||||
output = output.decode()
|
||||
values = [n.strip() for n in output.split('\n') if n.strip()]
|
||||
self.assertEquals(set(values), set(topics))
|
||||
|
||||
#echo
|
||||
# test with -c option to get command to terminate
|
||||
count = 3
|
||||
output = Popen([cmd, 'echo', name, '-n', str(count)], stdout=PIPE).communicate()[0]
|
||||
output = output.decode()
|
||||
values = [n.strip() for n in output.split('\n') if n.strip()]
|
||||
values = [n for n in values if n != '---']
|
||||
self.assertEquals(count, len(values), "wrong number of echos in output:\n"+str(values))
|
||||
for n in values:
|
||||
self.assert_('data: "hello world ' in n, n)
|
||||
|
||||
if 0:
|
||||
#bw
|
||||
stdout, stderr = run_for([cmd, 'bw', name], 3.)
|
||||
self.assert_('average:' in stdout, "OUTPUT: %s\n%s"%(stdout,stderr))
|
||||
|
||||
# hz
|
||||
stdout, stderr = run_for([cmd, 'hz', name], 2.)
|
||||
self.assert_('average rate:' in stdout)
|
||||
|
||||
# delay
|
||||
stdout, stderr = run_for([cmd, 'delay', name], 2.)
|
||||
self.assert_('average rate:' in stdout)
|
||||
|
||||
# pub
|
||||
# - pub wait until ctrl-C, so we have to wait then kill it
|
||||
if 1:
|
||||
s = 'hello'
|
||||
t = '/pub/chatter'
|
||||
key = len(topics)
|
||||
rospy.Subscriber(t, std_msgs.msg.String, self.callback, key)
|
||||
|
||||
#TODO: correct popen call
|
||||
args = [cmd, 'pub', t, 'std_msgs/String', s]
|
||||
popen = Popen(args, stdout=PIPE, stderr=PIPE, close_fds=True)
|
||||
|
||||
# - give rostopic pub 5 seconds to send us a message
|
||||
all = set(range(0, key+1))
|
||||
timeout_t = time.time() + 5.
|
||||
while time.time() < timeout_t and self.vals != all:
|
||||
time.sleep(0.1)
|
||||
# - check published value
|
||||
msg = self.msgs[key]
|
||||
self.assertEquals(s, msg.data)
|
||||
|
||||
os.kill(popen.pid, signal.SIGKILL)
|
||||
|
||||
# test with dictionary
|
||||
t = '/pub2/chatter'
|
||||
key = len(topics)+1
|
||||
rospy.Subscriber(t, std_msgs.msg.String, self.callback, key)
|
||||
|
||||
args = [cmd, 'pub', t, 'std_msgs/String', "{data: %s}"%s]
|
||||
popen = Popen(args, stdout=PIPE, stderr=PIPE, close_fds=True)
|
||||
|
||||
# - give rostopic pub 5 seconds to send us a message
|
||||
all = set(range(0, key+2))
|
||||
timeout_t = time.time() + 5.
|
||||
while time.time() < timeout_t and self.vals != all:
|
||||
time.sleep(0.1)
|
||||
|
||||
# - check published value
|
||||
try:
|
||||
msg = self.msgs[key]
|
||||
except KeyError:
|
||||
self.fail("no message received on "+str(key))
|
||||
self.assertEquals(s, msg.data)
|
||||
|
||||
os.kill(popen.pid, signal.SIGKILL)
|
||||
|
||||
PKG = 'test_rostopic'
|
||||
NAME = 'test_rostopic_command_line_online'
|
||||
if __name__ == '__main__':
|
||||
rostest.run(PKG, NAME, TestRostopicOnline, sys.argv)
|
||||
10
thirdparty/ros/ros_comm/tools/rostopic/test/rostopic.test
vendored
Normal file
10
thirdparty/ros/ros_comm/tools/rostopic/test/rostopic.test
vendored
Normal file
@@ -0,0 +1,10 @@
|
||||
<launch>
|
||||
<node name="talker" pkg="rospy" type="talker.py" />
|
||||
<group ns="foo">
|
||||
<node name="talker" pkg="rospy" type="talker.py" />
|
||||
</group>
|
||||
<group ns="bar">
|
||||
<node name="talker" pkg="rospy" type="talker.py" />
|
||||
</group>
|
||||
<test test-name="rostopic_command_line_online" pkg="rostopic" type="check_rostopic_command_line_online.py" />
|
||||
</launch>
|
||||
10
thirdparty/ros/ros_comm/tools/rostopic/test/rostopic2.test
vendored
Normal file
10
thirdparty/ros/ros_comm/tools/rostopic/test/rostopic2.test
vendored
Normal file
@@ -0,0 +1,10 @@
|
||||
<launch>
|
||||
<node name="talker" pkg="rospy" type="talker.py" />
|
||||
<group ns="foo">
|
||||
<node name="talker" pkg="rospy" type="talker.py" />
|
||||
</group>
|
||||
<group ns="bar">
|
||||
<node name="talker" pkg="rospy" type="talker.py" />
|
||||
</group>
|
||||
<test test-name="rostopic_unit" pkg="rostopic" type="test_rostopic.py" />
|
||||
</launch>
|
||||
355
thirdparty/ros/ros_comm/tools/rostopic/test/test_rostopic.py
vendored
Normal file
355
thirdparty/ros/ros_comm/tools/rostopic/test/test_rostopic.py
vendored
Normal file
@@ -0,0 +1,355 @@
|
||||
#!/usr/bin/env python
|
||||
# Software License Agreement (BSD License)
|
||||
#
|
||||
# Copyright (c) 2009, Willow Garage, Inc.
|
||||
# All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# * Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# * Redistributions in binary form must reproduce the above
|
||||
# copyright notice, this list of conditions and the following
|
||||
# disclaimer in the documentation and/or other materials provided
|
||||
# with the distribution.
|
||||
# * Neither the name of Willow Garage, Inc. nor the names of its
|
||||
# contributors may be used to endorse or promote products derived
|
||||
# from this software without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
|
||||
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
|
||||
import os
|
||||
import sys
|
||||
import unittest
|
||||
try:
|
||||
from cStringIO import StringIO
|
||||
except ImportError:
|
||||
from io import StringIO
|
||||
import time
|
||||
import rostest
|
||||
|
||||
import rospy
|
||||
import std_msgs.msg
|
||||
|
||||
from subprocess import Popen, PIPE, check_call, call
|
||||
|
||||
from contextlib import contextmanager
|
||||
|
||||
@contextmanager
|
||||
def fakestdout():
|
||||
realstdout = sys.stdout
|
||||
fakestdout = StringIO()
|
||||
sys.stdout = fakestdout
|
||||
yield fakestdout
|
||||
sys.stdout = realstdout
|
||||
|
||||
def todict(s):
|
||||
d = {}
|
||||
for l in s.split('\n'):
|
||||
key, p, val = l.partition(':')
|
||||
if p:
|
||||
d[key] = val.strip()
|
||||
return d
|
||||
|
||||
class TestRostopic(unittest.TestCase):
|
||||
|
||||
def __init__(self, *args):
|
||||
unittest.TestCase.__init__(self, *args)
|
||||
self.vals = set()
|
||||
|
||||
# wait for network to initialize
|
||||
rospy.init_node('test')
|
||||
topics = ['/chatter', '/foo/chatter', '/bar/chatter']
|
||||
subs = [rospy.Subscriber(t, std_msgs.msg.String, self.callback, i) for i, t in enumerate(topics)]
|
||||
all = set(range(0, len(topics)))
|
||||
|
||||
timeout_t = time.time() + 10.
|
||||
while time.time() < timeout_t and self.vals != all and not rospy.is_shutdown():
|
||||
time.sleep(0.1)
|
||||
[s.unregister() for s in subs]
|
||||
if rospy.is_shutdown():
|
||||
self.fail("shutdown")
|
||||
|
||||
def test_offline(self):
|
||||
import rostopic
|
||||
orig_uri = os.environ['ROS_MASTER_URI']
|
||||
os.environ['ROS_MASTER_URI'] = 'http://fake_host:12356'
|
||||
|
||||
try:
|
||||
c = 'rostopic'
|
||||
|
||||
try:
|
||||
rostopic._rostopic_cmd_list([c, 'list'])
|
||||
self.fail("should have raised ROSTopicIOException")
|
||||
except rostopic.ROSTopicIOException: pass
|
||||
|
||||
try:
|
||||
rostopic._rostopic_cmd_info([c, 'info', '/chatter'])
|
||||
self.fail("should have raised ROSTopicIOException")
|
||||
except rostopic.ROSTopicIOException: pass
|
||||
|
||||
try:
|
||||
rostopic._rostopic_cmd_type([c, 'type', '/chatter'])
|
||||
self.fail("should have raised ROSTopicIOException")
|
||||
except rostopic.ROSTopicIOException: pass
|
||||
|
||||
try:
|
||||
rostopic._rostopic_cmd_find([c, 'find', 'std_msgs/String'])
|
||||
self.fail("should have raised ROSTopicIOException")
|
||||
except rostopic.ROSTopicIOException: pass
|
||||
|
||||
finally:
|
||||
os.environ['ROS_MASTER_URI'] = orig_uri
|
||||
|
||||
def test_cmd_type(self):
|
||||
import rostopic
|
||||
cmd = 'rostopic'
|
||||
s = '/rosout_agg'
|
||||
t = 'rosgraph_msgs/Log'
|
||||
|
||||
try:
|
||||
rostopic.rostopicmain([cmd, 'type', 'fake'])
|
||||
self.fail("should have exited")
|
||||
except SystemExit as e:
|
||||
self.assertNotEquals(0, e.code)
|
||||
|
||||
for s in ['/chatter', 'chatter', 'foo/chatter', '/bar/chatter']:
|
||||
with fakestdout() as b:
|
||||
rostopic.rostopicmain([cmd, 'type', s])
|
||||
v = b.getvalue().strip()
|
||||
self.assertEquals('std_msgs/String', v)
|
||||
# check type of topic field
|
||||
rostopic.rostopicmain([cmd, 'type', s + '/data'])
|
||||
v = b.getvalue().strip()
|
||||
self.assertEquals('std_msgs/String data string', v)
|
||||
|
||||
def test_main(self):
|
||||
import rostopic
|
||||
c = 'rostopic'
|
||||
try:
|
||||
rostopic.rostopicmain([c])
|
||||
self.fail("should have exited with error")
|
||||
except SystemExit as e:
|
||||
self.assertNotEquals(0, e.code)
|
||||
try:
|
||||
rostopic.rostopicmain([c, 'foo'])
|
||||
self.fail("should have exited with error")
|
||||
except SystemExit as e:
|
||||
self.assertNotEquals(0, e.code)
|
||||
|
||||
def test_cmd_pub(self):
|
||||
import rostopic
|
||||
cmd = 'rostopic'
|
||||
|
||||
# we can't actually test functional behavior because rostopic
|
||||
# needs control over a node, though we can probably change the
|
||||
# source code to just check for the existing node.
|
||||
|
||||
invalid = [['-r', '--once', '/foo', 'std_msgs/String', 'hello'],
|
||||
['-r', 'a', '/foo', 'std_msgs/String', 'hello'],
|
||||
['-r', '--', '-1', '/foo', 'std_msgs/String', 'hello'],
|
||||
[],
|
||||
['/foo'],
|
||||
['/foo', 'std_msgs/String', 'a: b: !!c: d: e'],
|
||||
]
|
||||
for i in invalid:
|
||||
try:
|
||||
rostopic.rostopicmain([cmd, 'pub'] + i)
|
||||
self.fail("should have exited with error"+str(i))
|
||||
except SystemExit as e:
|
||||
self.assert_(e.code != 0)
|
||||
|
||||
|
||||
|
||||
def test_full_usage(self):
|
||||
import rostopic
|
||||
try:
|
||||
rostopic._fullusage()
|
||||
self.fail("should have caused system exit")
|
||||
except SystemExit: pass
|
||||
|
||||
def test_get_topic_type(self):
|
||||
import rostopic
|
||||
|
||||
self.assertEquals((None, None, None), rostopic.get_topic_type('/fake', blocking=False))
|
||||
|
||||
t, n, f = rostopic.get_topic_type('/rosout', blocking=False)
|
||||
self.assertEquals('rosgraph_msgs/Log', t)
|
||||
self.assertEquals('/rosout', n)
|
||||
self.assert_(f is None)
|
||||
|
||||
t, n, f = rostopic.get_topic_type('/rosout/name', blocking=False)
|
||||
self.assertEquals('rosgraph_msgs/Log', t)
|
||||
self.assertEquals('/rosout', n)
|
||||
self.failIf(f is None)
|
||||
from rosgraph_msgs.msg import Log
|
||||
self.assertEquals("bob", f(Log(name="bob")))
|
||||
|
||||
def test_get_topic_class(self):
|
||||
import rostopic
|
||||
|
||||
self.assertEquals((None, None, None), rostopic.get_topic_class('/fake'))
|
||||
|
||||
from rosgraph_msgs.msg import Log
|
||||
c, n, f = rostopic.get_topic_class('/rosout')
|
||||
self.assertEquals(Log, c)
|
||||
self.assertEquals('/rosout', n)
|
||||
self.assert_(f is None)
|
||||
|
||||
c, n, f = rostopic.get_topic_class('/rosout/name')
|
||||
self.assertEquals(c, Log)
|
||||
self.assertEquals('/rosout', n)
|
||||
self.failIf(f is None)
|
||||
self.assertEquals("bob", f(Log(name="bob")))
|
||||
|
||||
def test_cmd_info(self):
|
||||
import rostopic
|
||||
cmd = 'rostopic'
|
||||
|
||||
try:
|
||||
rostopic.rostopicmain([cmd, 'info'])
|
||||
self.fail("should have exited with error")
|
||||
except SystemExit: pass
|
||||
try:
|
||||
rostopic.rostopicmain([cmd, 'info', '/fake_topic'])
|
||||
self.fail("should have exited with error")
|
||||
except SystemExit: pass
|
||||
try:
|
||||
rostopic.rostopicmain([cmd, 'info', '/chatter', '/bar/chatter'])
|
||||
self.fail("should have exited with error")
|
||||
except SystemExit: pass
|
||||
|
||||
with fakestdout() as b:
|
||||
rostopic.rostopicmain([cmd, 'info', 'rosout'])
|
||||
v = b.getvalue()
|
||||
for s in ["Publishers:", "Subscribers", "Type: rosgraph_msgs/Log", " * /rosout"]:
|
||||
self.assert_(s in v, "failed on %s: %s"%(s, v))
|
||||
with fakestdout() as b:
|
||||
rostopic.rostopicmain([cmd, 'info', '/chatter'])
|
||||
v = b.getvalue()
|
||||
for s in ["Publishers:", "Subscribers", "Type: std_msgs/String", " * /talker"]:
|
||||
self.assert_(s in v, "failed on %s: %s"%(s, v))
|
||||
|
||||
def test_cmd_find(self):
|
||||
import rostopic
|
||||
cmd = 'rostopic'
|
||||
|
||||
try:
|
||||
rostopic.rostopicmain([cmd, 'find'])
|
||||
self.fail("arg parsing should have failed")
|
||||
except SystemExit: pass
|
||||
try:
|
||||
rostopic.rostopicmain([cmd, 'find', 'std_msgs/String', 'std_msgs/Int32'])
|
||||
self.fail("arg parsing should have failed")
|
||||
except SystemExit: pass
|
||||
|
||||
|
||||
with fakestdout() as b:
|
||||
rostopic.rostopicmain([cmd, 'find', 'std_msgs/String'])
|
||||
d = [x for x in b.getvalue().split('\n') if x.strip()]
|
||||
v = ['/foo/chatter', '/bar/chatter', '/chatter']
|
||||
self.assertEquals(set(v), set(d))
|
||||
|
||||
def callback(self, msg, val):
|
||||
self.vals.add(val)
|
||||
|
||||
def test_cmd_list(self):
|
||||
import rostopic
|
||||
cmd = 'rostopic'
|
||||
s = '/add_two_ints'
|
||||
|
||||
# test failures
|
||||
for invalid in [['-ps'], ['-b' 'file.bag', '-s'], ['-b' 'file.bag', '-p']]:
|
||||
try:
|
||||
rostopic.rostopicmain([cmd, 'list'] + invalid)
|
||||
self.fail("should have failed")
|
||||
except SystemExit: pass
|
||||
|
||||
# test main entry
|
||||
rostopic.rostopicmain([cmd, 'list'])
|
||||
|
||||
# test directly
|
||||
topics = ['/chatter', '/foo/chatter', '/bar/chatter', '/rosout', '/rosout_agg']
|
||||
|
||||
with fakestdout() as b:
|
||||
rostopic.rostopicmain([cmd, 'list'])
|
||||
v = [x.strip() for x in b.getvalue().split('\n') if x.strip()]
|
||||
self.failIf(set(topics)-set(v))
|
||||
|
||||
# publishers-only
|
||||
topics = ['/chatter', '/foo/chatter', '/bar/chatter', '/rosout', '/rosout_agg']
|
||||
with fakestdout() as b:
|
||||
rostopic.rostopicmain([cmd, 'list', '-p'])
|
||||
v = [x.strip() for x in b.getvalue().split('\n') if x.strip()]
|
||||
self.failIf(set(topics)-set(v))
|
||||
self.failIf('/clock' in v)
|
||||
|
||||
# subscribers-only
|
||||
topics = ['/rosout']
|
||||
with fakestdout() as b:
|
||||
rostopic.rostopicmain([cmd, 'list', '-s'])
|
||||
v = [x.strip() for x in b.getvalue().split('\n') if x.strip()]
|
||||
self.failIf(set(topics)-set(v), "%s vs. %s"%(topics, v))
|
||||
self.failIf('/chatter' in v)
|
||||
|
||||
# turn on verbosity, not checking output as it's not as stable
|
||||
with fakestdout() as b:
|
||||
rostopic.rostopicmain([cmd, 'list', '-v'])
|
||||
v = b.getvalue()
|
||||
self.assert_("Published topics:" in v)
|
||||
self.assert_("Subscribed topics:" in v)
|
||||
|
||||
with fakestdout() as b:
|
||||
rostopic.rostopicmain([cmd, 'list', '-vs'])
|
||||
v = b.getvalue()
|
||||
self.failIf("Published topics:" in v)
|
||||
self.assert_("Subscribed topics:" in v)
|
||||
|
||||
with fakestdout() as b:
|
||||
rostopic.rostopicmain([cmd, 'list', '-vp'])
|
||||
v = b.getvalue()
|
||||
self.assert_("Published topics:" in v)
|
||||
self.failIf("Subscribed topics:" in v)
|
||||
|
||||
# test with multiple topic names
|
||||
try:
|
||||
rostopic.rostopicmain([cmd, 'list', 'rosout', 'rosout_agg'])
|
||||
self.fail("should have caused parser error")
|
||||
except SystemExit:
|
||||
pass
|
||||
|
||||
# test with resolved names
|
||||
for n in topics:
|
||||
with fakestdout() as b:
|
||||
rostopic.rostopicmain([cmd, 'list', n])
|
||||
self.assertEquals(n, b.getvalue().strip())
|
||||
|
||||
# test with relative names
|
||||
with fakestdout() as b:
|
||||
rostopic.rostopicmain([cmd, 'list', 'rosout'])
|
||||
self.assertEquals('/rosout', b.getvalue().strip())
|
||||
|
||||
# test with namespaces
|
||||
with fakestdout() as b:
|
||||
rostopic.rostopicmain([cmd, 'list', '/foo'])
|
||||
self.assertEquals('/foo/chatter', b.getvalue().strip())
|
||||
with fakestdout() as b:
|
||||
rostopic.rostopicmain([cmd, 'list', 'bar'])
|
||||
self.assertEquals('/bar/chatter', b.getvalue().strip())
|
||||
|
||||
NAME = 'test_rostopic'
|
||||
if __name__ == '__main__':
|
||||
rostest.unitrun('test_rostopic', NAME, TestRostopic, sys.argv, coverage_packages=['rostopic'])
|
||||
98
thirdparty/ros/ros_comm/tools/rostopic/test/test_rostopic_command_line_offline.py
vendored
Normal file
98
thirdparty/ros/ros_comm/tools/rostopic/test/test_rostopic_command_line_offline.py
vendored
Normal file
@@ -0,0 +1,98 @@
|
||||
#!/usr/bin/env python
|
||||
# Software License Agreement (BSD License)
|
||||
#
|
||||
# Copyright (c) 2009, Willow Garage, Inc.
|
||||
# All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# * Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# * Redistributions in binary form must reproduce the above
|
||||
# copyright notice, this list of conditions and the following
|
||||
# disclaimer in the documentation and/or other materials provided
|
||||
# with the distribution.
|
||||
# * Neither the name of Willow Garage, Inc. nor the names of its
|
||||
# contributors may be used to endorse or promote products derived
|
||||
# from this software without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
|
||||
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
|
||||
import os
|
||||
import sys
|
||||
import unittest
|
||||
import time
|
||||
|
||||
from subprocess import Popen, PIPE, check_call, call
|
||||
|
||||
class TestRostopicOffline(unittest.TestCase):
|
||||
|
||||
def setUp(self):
|
||||
pass
|
||||
|
||||
## test that the rosmsg command works
|
||||
def test_cmd_help(self):
|
||||
cmd = 'rostopic'
|
||||
|
||||
sub = ['bw', 'echo', 'hz', 'delay', 'info', 'list', 'pub', 'type','find']
|
||||
output = Popen([cmd], stdout=PIPE).communicate()[0]
|
||||
self.assert_('Commands' in output)
|
||||
output = Popen([cmd, '-h'], stdout=PIPE).communicate()[0]
|
||||
self.assert_('Commands' in output)
|
||||
# make sure all the commands are in the usage
|
||||
for c in sub:
|
||||
cmd_sub = "%s %s"%(cmd, c)
|
||||
self.assert_(cmd_sub in output, "'%s' is not in help: \n%s"%(cmd_sub, output))
|
||||
|
||||
for c in sub:
|
||||
output = Popen([cmd, c, '-h'], stdout=PIPE, stderr=PIPE).communicate()
|
||||
self.assert_("usage:" in output[0].lower(), output)
|
||||
# make sure usage refers to the command
|
||||
self.assert_("%s %s"%(cmd, c) in output[0], output)
|
||||
|
||||
# test no args on commands that require args
|
||||
for c in ['bw', 'echo', 'hz', 'delay', 'info', 'pub', 'type', 'find']:
|
||||
output = Popen([cmd, c], stdout=PIPE, stderr=PIPE).communicate()
|
||||
self.assert_("usage:" in output[0].lower() or "usage:" in output[1].lower(), output)
|
||||
# make sure usage refers to the command
|
||||
self.assert_("%s %s"%(cmd, c) in output[1], output)
|
||||
|
||||
def test_offline(self):
|
||||
cmd = 'rostopic'
|
||||
|
||||
# point at a different 'master'
|
||||
env = os.environ.copy()
|
||||
env['ROS_MASTER_URI'] = 'http://localhost:11312'
|
||||
kwds = { 'env': env, 'stdout': PIPE, 'stderr': PIPE}
|
||||
|
||||
msg = "ERROR: Unable to communicate with master!\n"
|
||||
|
||||
output = Popen([cmd, 'bw', 'chatter'], **kwds).communicate()
|
||||
self.assert_(output[1].endswith(msg))
|
||||
output = Popen([cmd, 'echo', 'chatter'], **kwds).communicate()
|
||||
self.assert_(output[1].endswith(msg))
|
||||
output = Popen([cmd, 'hz', 'chatter'], **kwds).communicate()
|
||||
self.assert_(output[1].endswith(msg))
|
||||
output = Popen([cmd, 'delay', 'chatter'], **kwds).communicate()
|
||||
self.assert_(output[1].endswith(msg))
|
||||
output = Popen([cmd, 'list'], **kwds).communicate()
|
||||
self.assert_(output[1].endswith(msg))
|
||||
output = Popen([cmd, 'pub', 'chatter', 'std_msgs/String', 'hello'], **kwds).communicate()
|
||||
self.assert_(output[1].endswith(msg))
|
||||
output = Popen([cmd, 'type', 'chatter'], **kwds).communicate()
|
||||
self.assert_(output[1].endswith(msg))
|
||||
output = Popen([cmd, 'type', 'std_msgs/String'], **kwds).communicate()
|
||||
self.assert_(output[1].endswith(msg))
|
||||
Reference in New Issue
Block a user