v01

thirdparty/ros/ros_comm/tools/rostest/test/clean_master.test

@@ -0,0 +1,5 @@
+<launch>
+  <test pkg="rostest" type="test_clean_master.py" test-name="clean_master1" />
+  <test pkg="rostest" type="test_clean_master.py" test-name="clean_master2" />
+  <test pkg="rostest" type="test_clean_master.py" test-name="clean_master3" />
+</launch>

thirdparty/ros/ros_comm/tools/rostest/test/distro_version.test

@@ -0,0 +1,3 @@
+<launch>
+  <test pkg="rostest" type="test_distro_version.py" test-name="distro_version" />
+</launch>

thirdparty/ros/ros_comm/tools/rostest/test/dotname_cases.py

@@ -0,0 +1,36 @@
+import unittest
+
+
+class CaseA(unittest.TestCase):
+
+    def runTest(self):
+        self.assertTrue(True)
+
+
+class CaseB(unittest.TestCase):
+
+    def runTest(self):
+        self.assertTrue(True)
+
+
+class DotnameLoadingSuite(unittest.TestSuite):
+
+    def __init__(self):
+        super(DotnameLoadingSuite, self).__init__()
+        self.addTest(CaseA())
+        self.addTest(CaseB())
+
+
+class DotnameLoadingTest(unittest.TestCase):
+
+    def test_a(self):
+        self.assertTrue(True)
+
+    def test_b(self):
+        self.assertTrue(True)
+
+
+class NotTestCase():
+
+    def not_test(self):
+        pass

thirdparty/ros/ros_comm/tools/rostest/test/hztest.test

@@ -0,0 +1,24 @@
+<launch>
+  <node name="talker" pkg="rospy" type="talker.py" />
+
+  <param name="hztest1/topic" value="chatter" />  
+  <param name="hztest1/hz" value="10.0" />
+  <param name="hztest1/hzerror" value="0.5" />
+  <param name="hztest1/test_duration" value="5.0" />    
+  <param name="hztest1/wait_time" value="21.0" />    
+  <test test-name="hztest_test" pkg="rostest" type="hztest" name="hztest1" />
+
+  <!-- Below also works:
+
+  <test test-name="hztest_test" pkg="rostest" type="hztest" name="hztest1">
+    <rosparam>
+      topic: chatter
+      hz: 10.0
+      hzerror: 0.5
+      test_duration: 5.0
+      wait_time: 21.0
+    </rosparam>
+  </test>
+
+  -->
+</launch>

thirdparty/ros/ros_comm/tools/rostest/test/hztest0.test

@@ -0,0 +1,7 @@
+<launch>
+  <!-- verify that hztest works with 0 rate. NOTE: there is no test for failure here, which needs to be added somehow -->
+  <param name="hztest0/topic" value="fake" />  
+  <param name="hztest0/hz" value="0.0" />
+  <param name="hztest0/test_duration" value="5.0" />    
+  <test test-name="hz0_test" pkg="rostest" type="hztest" name="hztest0" />
+</launch>

thirdparty/ros/ros_comm/tools/rostest/test/just_advertise

@@ -0,0 +1,51 @@
+#!/usr/bin/env python
+###############################################################################
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2016, Kentaro Wada.
+# 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.
+###############################################################################
+
+"""
+This node is designed for testing and just advertises a topic for the specified message class.
+
+Author: Kentaro Wada <www.kentaro.wada@gmail.com>
+"""
+
+import rospy
+import roslib.message
+
+
+if __name__ == '__main__':
+    rospy.init_node('just_advertise')
+    msg_name = rospy.get_param('~msg_name')
+    msg_class = roslib.message.get_message_class(msg_name)
+    pub = rospy.Publisher('~output', msg_class, queue_size=1)
+    rospy.spin()

thirdparty/ros/ros_comm/tools/rostest/test/param.test

@@ -0,0 +1,30 @@
+<launch>
+  <!-- These parameters are registered to Parameter Server and
+       will be accessed by the test cases. -->
+  <param name="param_nonempty" value="This param is not empty." />
+  <param name="param_empty" value="" />
+  <param name="param_value_specific" value="Opensource Robotics is forever." />
+
+  <test pkg="rostest" type="paramtest" name="paramtest_nonempty"
+        test-name="paramtest_nonempty">
+    <param name="param_name_target" value="param_nonempty" />
+    <param name="test_duration" value="5.0" />
+    <param name="wait_time" value="20.0" />
+  </test>
+
+  <test pkg="rostest" type="paramtest" name="paramtest_empty"
+        test-name="paramtest_empty">
+    <param name="param_name_target" value="param_empty" />
+    <param name="test_duration" value="5.0" />
+    <param name="wait_time" value="30.0" />
+  </test>
+
+  <test pkg="rostest" type="paramtest" name="paramtest_value_specific_correct"
+        test-name="paramtest_value_specific_correct">
+    <param name="param_name_target" value="param_value_specific" />
+    <param name="param_value_expected" value="Opensource Robotics is forever." />
+    <param name="test_duration" value="5.0" />
+    <param name="wait_time" value="30.0" />
+  </test>
+
+</launch>

thirdparty/ros/ros_comm/tools/rostest/test/publishtest.test

@@ -0,0 +1,35 @@
+<launch>
+
+  <node name="talker_0"
+        pkg="rospy" type="talker.py">
+    <remap from="chatter" to="~output" />
+  </node>
+
+  <node name="talker_1"
+        pkg="rospy" type="talker.py">
+    <remap from="chatter" to="~output" />
+  </node>
+
+  <node name="talker_2"
+        pkg="rostest" type="just_advertise">
+    <rosparam>
+      msg_name: std_msgs/String
+    </rosparam>
+  </node>
+
+  <test name="publishtest"
+        test-name="publishtest"
+        pkg="rostest" type="publishtest">
+    <rosparam>
+      topics:
+        - name: talker_0/output
+          timeout: 10
+          negative: False
+        - name: talker_1/output
+        - name: talker_2/output
+          timeout: 3
+          negative: True
+    </rosparam>
+  </test>
+
+</launch>

thirdparty/ros/ros_comm/tools/rostest/test/test_clean_master.py

@@ -0,0 +1,49 @@
+#!/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 rospy
+import rosunit
+
+class CleanMasterTest(unittest.TestCase):
+  
+    def test_clean_master(self):
+        self.failIf(rospy.has_param('dirty'))
+        rospy.set_param('dirty', True)
+
+if __name__ == '__main__':
+    rosunit.unitrun('test_rostest', 'test_clean_master', CleanMasterTest, coverage_packages=[])
+  

thirdparty/ros/ros_comm/tools/rostest/test/test_distro_version.py

@@ -0,0 +1,51 @@
+#!/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 rospy
+import rostest
+import subprocess
+
+class VersionTest(unittest.TestCase):
+  
+    def test_distro_version(self):
+        val = (subprocess.Popen(['rosversion', '-d'], stdout=subprocess.PIPE, stderr=subprocess.PIPE).communicate()[0] or '').strip() 
+        param = rospy.get_param('rosdistro').strip()
+        self.assertEquals(val, param, "rosversion -d [%s] and roscore [%s] do not match"%(val, param))
+
+if __name__ == '__main__':
+    rostest.unitrun('test_rostest', 'test_distro_version', VersionTest, coverage_packages=[])
+  

thirdparty/ros/ros_comm/tools/rostest/test/test_dotname.py

@@ -0,0 +1,52 @@
+#!/usr/bin/env python
+
+# This file should be run using a non-ros unit test framework such as nose using
+# nosetests test_dotname.py.
+
+import unittest
+import rostest
+from dotname_cases import DotnameLoadingTest, NotTestCase, DotnameLoadingSuite
+
+
+class TestDotnameLoading(unittest.TestCase):
+
+    def test_class_basic(self):
+        rostest.rosrun('test_rostest', 'test_class_basic', DotnameLoadingTest)
+
+    def test_class_dotname(self):
+        rostest.rosrun('test_rostest', 'test_class_dotname', 'dotname_cases.DotnameLoadingTest')
+
+    def test_method_dotname(self):
+        rostest.rosrun('test_rostest', 'test_method_dotname', 'dotname_cases.DotnameLoadingTest.test_a')
+
+    def test_suite_dotname(self):
+        rostest.rosrun('test_rostest', 'test_suite_dotname', 'dotname_cases.DotnameLoadingSuite')
+
+    def test_class_basic_nottest(self):
+        # class which exists but is not a TestCase
+        with self.assertRaises(SystemExit):
+            rostest.rosrun('test_rostest', 'test_class_basic_nottest', NotTestCase)
+
+    def test_suite_basic(self):
+        # can't load suites with the basic loader
+        with self.assertRaises(SystemExit):
+            rostest.rosrun('test_rosunit', 'test_suite_basic', DotnameLoadingSuite)
+
+    def test_class_dotname_nottest(self):
+        # class which exists but is not a valid test
+        with self.assertRaises(TypeError):
+            rostest.rosrun('test_rostest', 'test_class_dotname_nottest', 'dotname_cases.NotTestCase')
+
+    def test_class_dotname_noexist(self):
+        # class which does not exist in the module
+        with self.assertRaises(AttributeError):
+            rostest.rosrun('test_rostest', 'test_class_dotname_noexist', 'dotname_cases.DotnameLoading')
+
+    def test_method_dotname_noexist(self):
+        # method which does not exist in the class
+        with self.assertRaises(AttributeError):
+            rostest.rosrun('test_rostest', 'test_method_dotname_noexist', 'dotname_cases.DotnameLoadingTest.not_method')
+
+
+if __name__ == '__main__':
+    unittest.main()

thirdparty/ros/ros_comm/tools/rostest/test/test_permuter.cpp

@@ -0,0 +1,213 @@
+/*
+ * 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 the 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.
+ */
+
+#include <gtest/gtest.h>
+#include <string>
+#include "rostest/permuter.h"
+
+using namespace rostest;
+
+
+double epsilon = 1e-9;
+
+TEST(Permuter, PermuteOption)
+{
+  std::vector<double> vals;
+  vals.push_back(1.0);
+  vals.push_back(2.0);
+  vals.push_back(3.0);
+  vals.push_back(4.0);
+  double value = 0;
+  
+  PermuteOption<double> op(vals, &value);
+
+  for ( unsigned int i = 0; i < vals.size(); i++)
+  {
+    EXPECT_NEAR(vals[i], value, epsilon);
+    if (i < vals.size() -1)
+      EXPECT_TRUE(op.step());
+    else
+      EXPECT_FALSE(op.step());
+  };
+  
+  
+}
+
+
+TEST(Permuter, OneDoublePermuteOption)
+{
+  double epsilon = 1e-9;
+  rostest::Permuter permuter;
+  std::vector<double> vals;
+  vals.push_back(1.0);
+  vals.push_back(2.0);
+  vals.push_back(3.0);
+  vals.push_back(4.0);
+
+
+  double value = 0;
+
+  permuter.addOptionSet(vals, &value);
+
+  for ( unsigned int i = 0; i < vals.size(); i++)
+  {
+    EXPECT_NEAR(vals[i], value, epsilon);
+    if (i < vals.size() -1)
+      EXPECT_TRUE(permuter.step());
+    else
+      EXPECT_FALSE(permuter.step());
+  };
+
+}
+
+TEST(Permuter, TwoDoubleOptions)
+{
+  double epsilon = 1e-9;
+  Permuter permuter;
+  std::vector<double> vals;
+  vals.push_back(1.0);
+  vals.push_back(2.0);
+  vals.push_back(3.0);
+  vals.push_back(4.0);
+
+
+  double value = 0;
+  
+  std::vector<double> vals2;
+  vals2.push_back(9.0);
+  vals2.push_back(8.0);
+  vals2.push_back(7.0);
+  vals2.push_back(6.0);
+
+  double value2;
+
+  permuter.addOptionSet(vals, &value);
+  permuter.addOptionSet(vals2, &value2);
+  for ( unsigned int j = 0; j < vals2.size(); j++)
+    for ( unsigned int i = 0; i < vals.size(); i++)
+    {
+      //printf("%f?=%f %f?=%f\n", value, vals[i], value2, vals2[j]); 
+      EXPECT_NEAR(vals[i], value, epsilon);
+      EXPECT_NEAR(vals2[j], value2, epsilon);
+      if (i == vals.size() -1 && j == vals2.size() -1)
+        EXPECT_FALSE(permuter.step());
+      else
+        EXPECT_TRUE(permuter.step());
+    };
+
+}
+TEST(Permuter, ThreeDoubleOptions)
+{
+  double epsilon = 1e-9;
+  Permuter permuter;
+  std::vector<double> vals;
+  vals.push_back(1.0);
+  vals.push_back(2.0);
+  vals.push_back(3.0);
+  vals.push_back(4.0);
+
+
+  double value = 0;
+  
+  std::vector<double> vals2;
+  vals2.push_back(9.0);
+  vals2.push_back(8.0);
+  vals2.push_back(7.0);
+  vals2.push_back(6.0);
+
+  double value2;
+
+  std::vector<double> vals3;
+  vals3.push_back(99.0);
+  vals3.push_back(88.0);
+  vals3.push_back(78.0);
+  vals3.push_back(63.0);
+
+  double value3;
+
+  permuter.addOptionSet(vals, &value);
+  permuter.addOptionSet(vals2, &value2);
+  permuter.addOptionSet(vals3, &value3);
+
+  for ( unsigned int k = 0; k < vals3.size(); k++)
+    for ( unsigned int j = 0; j < vals2.size(); j++)
+      for ( unsigned int i = 0; i < vals.size(); i++)
+      {
+        EXPECT_NEAR(vals[i], value, epsilon);
+        EXPECT_NEAR(vals2[j], value2, epsilon);
+        EXPECT_NEAR(vals3[k], value3, epsilon);
+        if (i == vals.size() -1 && j == vals2.size() -1&& k == vals3.size() -1)
+          EXPECT_FALSE(permuter.step());
+        else
+          EXPECT_TRUE(permuter.step());
+      };
+  
+}
+
+TEST(Permuter, DoubleStringPermuteOptions)
+{
+  double epsilon = 1e-9;
+  Permuter permuter;
+  std::vector<double> vals;
+  vals.push_back(1.0);
+  vals.push_back(2.0);
+  vals.push_back(3.0);
+  vals.push_back(4.0);
+
+
+  double value = 0;
+  
+  std::vector<std::string> vals2;
+  vals2.push_back("hi");
+  vals2.push_back("there");
+  vals2.push_back("this");
+  vals2.push_back("works");
+
+  std::string value2;
+
+  permuter.addOptionSet(vals, &value);
+  permuter.addOptionSet(vals2, &value2);
+
+  for ( unsigned int j = 0; j < vals2.size(); j++)
+    for ( unsigned int i = 0; i < vals.size(); i++)
+    {
+      //printf("%f?=%f %s?=%s\n", value, vals[i], value2.c_str(), vals2[j].c_str()); 
+      EXPECT_NEAR(vals[i], value, epsilon);
+      EXPECT_STREQ(vals2[j].c_str(), value2.c_str());
+      if (i == vals.size() -1 && j == vals2.size() -1)
+        EXPECT_FALSE(permuter.step());
+      else
+        EXPECT_TRUE(permuter.step());
+    };
+
+}
+int main(int argc, char **argv){
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}

thirdparty/ros/ros_comm/tools/rostest/test/time-limit.test

@@ -0,0 +1,7 @@
+<launch>
+  <!-- as these tests are designed to fail, they aren't be added to the normal test regression suite.
+       they must be manually run with the knowledge that they will fail -->
+  <test test-name="time_limit_test" pkg="rostest" type="time_limit_test.py" time-limit="1" />
+  <!-- test normal timeout (60 seconds) -->
+  <test test-name="time_limit_test__no_limit" pkg="rostest" type="time_limit_test.py" />
+</launch>

thirdparty/ros/ros_comm/tools/rostest/test/time_limit_test.py

@@ -0,0 +1,40 @@
+#!/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.
+#
+
+## only point of this test is to be killed within a short period of time
+
+import rospy
+
+while not rospy.is_shutdown():
+   pass