test3

jsk-ros-pkg · Dec 10, 2017 · 516cb79 · 516cb79
1 parent 92dde05
commit 516cb79
Showing 1 changed file with 13 additions and 2 deletions.
diff --git a/pr2eus/test/speak-test.l b/pr2eus/test/speak-test.l
@@ -3,13 +3,24 @@
 
 (require :unittest "lib/llib/unittest.l")
 
-(load "package://pr2eus/pr2-interface.l")
 (ros::roseus "test_speak")
 
+(require :robot-interface "package://pr2eus/robot-interface.l")
+(load "irteus/demo/sample-robot-model.l")
+
 (init-unit-test)
 
+(defclass sample-robot-interface
+  :super robot-interface
+  :slots ())
+(defmethod sample-robot-interface
+  (:init
+   (&rest args)
+   (send-super* :init :robot sample-robot args)
+   self))
+
 (unless (boundp '*ri*)
-  (pr2-init))
+  (setq *ri* (instance sample-robot-interface :init)))
 
 (deftest test-speak-en ()
   (assert (speak-en "hello, world"))