def test_put_cmd_vel(self):
    pub = rospy.Publisher('/cmd_vel', Twist)
    m = Twist()
    m.linear.x = 0.1414
    m.angular.z = 1.57
    for i in range(10):
        pub.publish(m)
        time.sleep(0.1)
    self.file_check('rtmotor_raw_l0', 200, 'wrong left value from cmd_vel')
    self.file_check('rtmotor_raw_r0', 600, 'wrong right value from cmd_vel')
    time.sleep(1.1)
    self.file_check('rtmotor_raw_r0', 0, "don't stop after 1[s]")
    self.file_check('rtmotor_raw_l0', 0, "don't stop after 1[s]")
def test_put_cmd_vel(self):
    pub = rospy.Publisher('/cmd_vel', Twist)
    m = Twist()
    m.linear.x = 0.1414
    m.angular.z = 1.57
    for i in range(10):
        pub.publish(m)
        time.sleep(0.1)
    self.file_check('rtmotor_raw_l0', 200, 'wrong left value from cmd_vel')
    self.file_check('rtmotor_raw_r0', 600, 'wrong right value from cmd_vel')
    time.sleep(1.1)
    self.file_check('rtmotor_raw_r0', 0, "don't stop after 1[s]")
    self.file_check('rtmotor_raw_l0', 0, "don't stop after 1[s]")