@Test
public void testAddRosHandler() throws InterruptedException {

	DummyRosHandler h = new DummyRosHandler();
	r1.addRosHandler(h);
	assertFalse(h.connection);
	assertFalse(h.disconnection);
	assertFalse(h.error);
	assertTrue(r1.connect());
	Thread.sleep(500);
	assertTrue(r1.isConnected());
	assertTrue(h.connection);
	assertFalse(h.disconnection);
	assertFalse(h.error);
	assertTrue(r1.disconnect());
	Thread.sleep(500);
	assertFalse(r1.isConnected());
	assertTrue(h.connection);
	assertTrue(h.disconnection);
	assertFalse(h.error);
	r1.onError(null, null);
	assertTrue(h.connection);
	assertTrue(h.disconnection);
	assertTrue(h.error);
}