add test to check https://github.com/jsk-enshu/robot-programming/issues/376

[k-okada]

• if user call :wait-for-result, within ros::rate loop, it changed ros::rate at

  jsk_roseus/roseus/euslisp/actionlib.l

  Lines 203 to 219 in 0d17efc

  	(ros::rate wait-rate)
  	(while (ros::ok)
  	(ros::ros-debug "[~A] :wait-for-result ~A ~A" name-space (simple-goal-states-to-string simple-state) (send comm-state :state))
  	(send self :spin-once) ;; spin just before processing status
  	(if (= simple-state ros::*simple-goal-state-done*)
  	(return))
  	(if (> timeout 0)
  	(let* ((tm (ros::time- (ros::time-now) start)))
  	(if (> (send tm :to-sec) timeout) (return-from :wait-for-result nil))))
  	(when return-if-server-down
  	(when (= (ros::get-num-publishers result-topic) 0)
  	(ros::ros-error "[~A] Unexpected returns from :wait-for-result : no publishers found for ~A" name-space result-topic)
  	(return-from :wait-for-result nil))
  	(when (and status-stamp maximum-status-interval (> (send (ros::time- (ros::time-now) status-stamp) :to-sec) maximum-status-interval))
  	(ros::ros-error "[~A] Unexpected returns from :wait-for-result : status did not received for 5 seconds" name-space)
  	(return-from :wait-for-result nil)))
  	(ros::sleep))

• add test-rate.l test-rate.test

[pazeshun]

@k-okada
jsk-ros-pkg/jsk_pr2eus#444 で、:wait-for-resultの:wait-rateをうまく変えて任意の周期でループが回るようにしているので、この機能自体はなくしたくないところです。あんまりわかってないんですが、https://github.com/jsk-ros-pkg/jsk_roseus/blob/1.7.4/roseus/roseus.cpp#L145 のs_rateの値を返す関数を作って、それを:wait-for-resultの最初で呼び出して値を保存し、:wait-for-resultの最後で保存しておいた値を復元したらよいんでしょうか？

@Kanazawanaoaki
(ros::rate ~)の設定後にjsk-ros-pkg/jsk_pr2eus#444 の:wait-interpolation-until-funcを呼び出すと、設定が上書きされてしまうので注意してください。