srv/RunCommand.srv

-string input
----
-string result
-string stdout
-string stderr

tests/CMakeLists.txt

+if(BUILD_PYTHON_INTERFACE)
+  # TODO: this test requires a ros master ADD_PYTHON_UNIT_TEST("py-import"
+  # "tests/test_import.py")
+endif(BUILD_PYTHON_INTERFACE)

tests/test_import.py

-#!/usr/bin/python
+#!/usr/bin/env python
 
 from dynamic_graph.ros import RosImport
 
-ri = RosImport('rosimport')
+ri = RosImport("rosimport")
 
-ri.add('double', 'doubleS', 'doubleT')
-ri.add('vector', 'vectorS', 'vectorT')
-ri.add('matrix', 'matrixS', 'matrixT')
+ri.add("double", "doubleS", "doubleT")
+ri.add("vector", "vectorS", "vectorT")
+ri.add("matrix", "matrixS", "matrixT")
 
-ri.doubleS.value = 42.
-ri.vectorS.value = (42., 42.,)
-ri.matrixS.value = ((42., 42.,),(42., 42.,),)
+ri.doubleS.value = 42.0
+ri.vectorS.value = (
+    42.0,
+    42.0,
+)
+ri.matrixS.value = (
+    (
+        42.0,
+        42.0,
+    ),
+    (
+        42.0,
+        42.0,
+    ),
+)
 
 ri.trigger.recompute(ri.trigger.time + 1)

tests/test_joint_state.py

-#!/usr/bin/python
-
-try:
-    from dynamic_graph.sot.dynamics.tools import *
-except:
-    print("This test requires sot-dynamic.")
-    exit(42)
-
-from dynamic_graph.ros import RosJointState
-
-rjs = RosJointState('rosjointstate')
-plug(robot.device.state, rjs.state)
-rjs.trigger.recompute(rjs.trigger.time + 1)