text: #!/usr/bin/env python
  PKG = 'monitor'
  import sys
  import unittest
  from can_msgs import Frame 
  
  class rospyObj:
      def __init__(self, name):
          self.name = name
          rospy.init_node(name, anonymous=True)
          rate = rospy.Rate(10000) # 10khz
          try:
              self.rospy.spin()
          except KeyboardInterrupt:
              print("Shutting down")
  
      def __del__(self):
          rospy.signal_shutdown("Done testing with " + self.name)
      
      def callback(self):
  
      def make_subscriber(self,topic)
          self.sub = rospy.Subscriber(topic, Frame, self.callback)
  
  class TestHS(unittest.TestCase):
      def setUp(self):
          self.node = rospyObj("test_HS")
          
      def tearDown(self):
          pass
      # test if worldToJetson correctly publishes to topic protocol_MID_TRIDENT_deviceName
      def test_HS_worldToJetson_pub(self):
          pass
  
  
      # test if worldToJetson correctly subscribes to topic received_messages
      def test_HS_worldToJetson_sub(self):
          msg = Frame()
          msg.id = 0x29
          msg.data[0] = 0x00
          pass
  
  if __name__ = '__main__':
      import rostest
      rostest.rosrun(PKG, 'test_node_HS', TestHS)