text: #!/usr/bin/env python
  import time
  
  import pytest
  import rospy
  
  from moveit_msgs.srv import ChangeDriftDimensions
  from geometry_msgs.msg import Transform
  from geometry_msgs.msg import TwistStamped
  from std_msgs.msg import Bool
  from trajectory_msgs.msg import JointTrajectory
  
  # Import common Python test utilities
  from os import sys, path
  sys.path.append(path.dirname(path.dirname(path.abspath(__file__))))
  import util
  
  # Send a service call to allow drift in all but the y-dimension.
  # In other words, only the y-dimension will be controlled exactly.
  # Check that the service returns and the jog node continues to publish commands to the robot.
  
  CARTESIAN_JOG_COMMAND_TOPIC = 'jog_server/delta_jog_cmds'
  
  COMMAND_OUT_TOPIC = 'jog_server/command'
  
  SERVICE_NAME = 'jog_server/change_drift_dimensions'
  
  
  @pytest.fixture
  def node():
      return rospy.init_node('pytest', anonymous=True)
  
  
  def test_drift_dimensions_service(node):
      assert util.wait_for_jogger_initialization(SERVICE_NAME)
  
      # Service to change drift dimensions
      drift_service = rospy.ServiceProxy(SERVICE_NAME, ChangeDriftDimensions)
  
      # Service call to allow drift in all dimensions except y-translation
      # The transform is an identity matrix, not used for now
      drift_response = drift_service(True, False, True, True, True, True, Transform())
      # Check for successful response
      assert drift_response.success == True
  
  
  if __name__ == '__main__':
     node = node()
     test_drift_dimensions_service(node)
  