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Make ros test topics local to allow for namespacing #28

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22 changes: 11 additions & 11 deletions turtlebot4_tests/turtlebot4_tests/ros_tests.py
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Original file line number Diff line number Diff line change
Expand Up @@ -85,7 +85,7 @@ def lightRingTest(self):
response_delay = 1
print('Testing Create3 Light Ring... \n')

pub = self.create_publisher(LightringLeds, '/cmd_lightring', qos_profile_sensor_data)
pub = self.create_publisher(LightringLeds, 'cmd_lightring', qos_profile_sensor_data)
time.sleep(response_delay)

msg = LightringLeds()
Expand Down Expand Up @@ -176,7 +176,7 @@ def createButtonTest(self):
self.create_button_msg = InterfaceButtons()

create_button_sub = self.create_subscription(InterfaceButtons,
'/interface_buttons',
'interface_buttons',
self.createButtonCallback,
qos_profile_sensor_data)
time.sleep(response_delay)
Expand Down Expand Up @@ -207,7 +207,7 @@ def userLedTest(self):
response_delay = 1
print('Testing User LEDs... \n')

user_led_pub = self.create_publisher(UserLed, '/hmi/led', qos_profile_sensor_data)
user_led_pub = self.create_publisher(UserLed, 'hmi/led', qos_profile_sensor_data)
time.sleep(response_delay)

msg = UserLed()
Expand Down Expand Up @@ -281,7 +281,7 @@ def displayTest(self):

display_pub = self.create_publisher(
String,
'/hmi/display/message',
'hmi/display/message',
qos_profile_sensor_data)
time.sleep(response_delay)

Expand Down Expand Up @@ -313,7 +313,7 @@ def userButtonTest(self):
self.button_msg = UserButton()

user_button_sub = self.create_subscription(UserButton,
'/hmi/buttons',
'hmi/buttons',
self.userButtonCallback,
qos_profile_sensor_data)
time.sleep(response_delay)
Expand All @@ -340,11 +340,11 @@ def dockTest(self):
self.is_docked = False

dock_sub = self.create_subscription(DockStatus,
'/dock_status',
'dock_status',
self.dockCallback,
qos_profile_sensor_data)
undock_action_client = ActionClient(self, Undock, '/undock')
dock_action_client = ActionClient(self, Dock, '/dock')
undock_action_client = ActionClient(self, Undock, 'undock')
dock_action_client = ActionClient(self, Dock, 'dock')
undock_goal_msg = Undock.Goal()
dock_goal_msg = Dock.Goal()

Expand Down Expand Up @@ -396,15 +396,15 @@ def driveTest(self):
drive_distance = 0.25
rotate_angle = math.pi/2

drive_action_client = ActionClient(self, DriveDistance, '/drive_distance')
rotate_action_client = ActionClient(self, RotateAngle, '/rotate_angle')
drive_action_client = ActionClient(self, DriveDistance, 'drive_distance')
rotate_action_client = ActionClient(self, RotateAngle, 'rotate_angle')
drive_goal_msg = DriveDistance.Goal()
drive_goal_msg.distance = drive_distance
rotate_goal_msg = RotateAngle.Goal()
rotate_goal_msg.angle = rotate_angle

dock_sub = self.create_subscription(Odometry,
'/odom',
'odom',
self.odomCallback,
qos_profile_sensor_data)

Expand Down