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modified_test_1.py
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modified_test_1.py
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import rclpy
import pytest
from spot_arm_status.spot_arm_status_pub import JointStateSubscriber
@pytest.fixture(scope="module")
def ros_init():
rclpy.init()
def test_arm_stowed_evaluation_when_arm_is_stowed_should_return_true(self):
# given
arm_stowed_values = [
-0.0001456737518310547,
-3.115017890930176,
0.0,
3.132694959640503,
1.570010781288147,
0.0025632381439208984,
-1.56974196434021,
]
node = JointStateSubscriber()
# expected
assert node.is_arm_in_stowed_position(arm_stowed_values) is True
def test_arm_stowed_evaluation_when_arm_is_not_stowed_should_return_false(self):
# given
arm_values = [0, 1, 2, 3, 4, 5, 6]
node = JointStateSubscriber()
# expected
assert node.is_arm_in_stowed_position(arm_values) is False
def test_gripper_evaluation_when_gripper_is_close_to_closed_position_should_return_true(self):
# given
gripper_position = -0.02
node = JointStateSubscriber()
# expected
assert node.checking_gripper_position(gripper_position) is True
def test_gripper_evaluation_when_gripper_is_close_to_open_position_should_return_false():
#given
gripper_position = 0.02
node = JointStateSubscriber()
# expected
assert node.checking_gripper_position(gripper_position) is False