use crossbeam::channel::unbounded;
use std::process::Command;
mod util;
mod msg {
rosrust::rosmsg_include!(std_msgs / String, rosgraph_msgs / Log);
}
#[test]
fn publisher_to_rospy_subscriber() {
let _roscore = util::run_roscore_for(util::Language::Python, util::Feature::Publisher);
let _subscriber = util::ChildProcessTerminator::spawn(
Command::new("rosrun")
.arg("rospy_tutorials")
.arg("listener"),
);
rosrust::init("hello_world_talker");
let (tx, rx) = unbounded();
let _log_subscriber =
rosrust::subscribe::<msg::rosgraph_msgs::Log, _>("/rosout_agg", 100, move |data| {
tx.send((data.level, data.msg)).unwrap();
})
.unwrap();
let publisher = rosrust::publish::<msg::std_msgs::String>("chatter", 100).unwrap();
let message = msg::std_msgs::String {
data: "hello world".into(),
};
util::test_publisher(&publisher, &message, &rx, r"I heard hello world$", 50);
assert_eq!(publisher.subscriber_count(), 1);
}