test_topic_published.py¶

What is this?¶

This node is to test the expected published topics while running rostest.

Parameters¶

~topic_%d (str)

The name of topics to test if published.
~timeout_%d (int)

Timeout for the topic.
~negative_%d (bool, Default: false, Optional)

If it’s True, it tests if not published.
~import (List[str], Default: [], Optional)

List of Python modules to import and use in ~condition_%d expression. For commodity rospy and numpy modules are imported by default.
~condition_%d (str, Default: None, Optional)

Check bool value condition using the given Python expression. The Python expression can access any of the Python builtins plus: topic (the topic of the message), m (the message) and t (time of message).

For example, topic is std_msgs/String and if you want to check whether a sentence is a hello, you can do the following.
```
condition_0: m.data == 'hello'
```
If you want to check the frame id of the header, you can do the following.
```
condition_0: m.header.frame_id in ['base', 'base_link']
```
Note that, use escape sequence when using the following symbols <(<), >(>), &(&), '(') and "(").
```
condition_0: m.data &lt; 'spbm'
```
The modules given to ~import can also be used.
```
condition_0: 'numpy.linalg.norm([m.wrench.force.x, m.wrench.force.y, m.wrench.force.z]) &lt; 10.0'
```

Example¶

<test test-name="image_view2_topics"
      name="image_view2_topics"
      pkg="jsk_tools" type="test_topic_published.py">
  <rosparam>
    topic_0: /camera_0/image/screenrectangle_image
    timeout_0: 10
    topic_1: /camera_1/image/screenrectangle_image
    timeout_1: 10
  </rosparam>
</test>