test_pub_desired_topics.py 文件源码

def test_publish_to_topics(self):
        topic_ending = "desired"
        rospy.logdebug("Sleeping for 5 seconds to let ROS spin up...")
        rospy.sleep(5)
        for variable, value in self.variables:
            # Publish to each variable/desired topic to see if all of the
            # actuators come on as expected.
            topic_string = variable + "/" + topic_ending
            rospy.logdebug("Testing Publishing to " + topic_string)
            pub_desired = rospy.Publisher(topic_string,
                                               Float64, queue_size=10)
            sub_desired = rospy.Subscriber(topic_string, Float64, self.callback)
            rospy.sleep(2)
            print(self.namespace + "/" + topic_string)
            for _ in range(NUM_TIMES_TO_PUBLISH):
                pub_desired.publish(value)
                rospy.sleep(1)
            rospy.sleep(2)
            pub_desired.publish(0)