diff options
Diffstat (limited to 'integrationtests/demo_tests/mavros_offboard_posctl_test.py')
| -rwxr-xr-x | integrationtests/demo_tests/mavros_offboard_posctl_test.py | 18 |
1 files changed, 9 insertions, 9 deletions
diff --git a/integrationtests/demo_tests/mavros_offboard_posctl_test.py b/integrationtests/demo_tests/mavros_offboard_posctl_test.py index a3739ae5c..6d26015e7 100755 --- a/integrationtests/demo_tests/mavros_offboard_posctl_test.py +++ b/integrationtests/demo_tests/mavros_offboard_posctl_test.py @@ -64,11 +64,11 @@ class MavrosOffboardPosctlTest(unittest.TestCase): def setUp(self): rospy.init_node('test_node', anonymous=True) - rospy.wait_for_service('mavros/cmd/arming', 30) - rospy.Subscriber('px4_multicopter/vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback) - rospy.Subscriber("mavros/position/local", PoseStamped, self.position_callback) - self.pubSpt = rospy.Publisher('mavros/setpoint/local_position', PoseStamped, queue_size=10) - self.cmdArm = rospy.ServiceProxy("mavros/cmd/arming", CommandBool) + rospy.wait_for_service('iris/mavros/cmd/arming', 30) + rospy.Subscriber('iris/vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback) + rospy.Subscriber("iris/mavros/position/local", PoseStamped, self.position_callback) + self.pubSpt = rospy.Publisher('iris/mavros/setpoint/local_position', PoseStamped, queue_size=10) + self.cmdArm = rospy.ServiceProxy("iris/mavros/cmd/arming", CommandBool) self.rate = rospy.Rate(10) # 10hz self.rateSec = rospy.Rate(1) self.hasPos = False @@ -100,7 +100,7 @@ class MavrosOffboardPosctlTest(unittest.TestCase): def reach_position(self, x, y, z, timeout): # set a position setpoint pos = PoseStamped() - pos.header = Header() + pos.header = Header() pos.header.frame_id = "base_footprint" pos.pose.position.x = x pos.pose.position.y = y @@ -118,7 +118,7 @@ class MavrosOffboardPosctlTest(unittest.TestCase): # update timestamp for each published SP pos.header.stamp = rospy.Time.now() self.pubSpt.publish(pos) - + if(self.is_at_position(pos.pose.position.x, pos.pose.position.y, pos.pose.position.z, 0.5)): break count = count + 1 @@ -153,7 +153,7 @@ class MavrosOffboardPosctlTest(unittest.TestCase): for i in range(0, len(positions)): self.reach_position(positions[i][0], positions[i][1], positions[i][2], 120) - + # does it hold the position for Y seconds? positionHeld = True count = 0 @@ -166,7 +166,7 @@ class MavrosOffboardPosctlTest(unittest.TestCase): self.rate.sleep() self.assertTrue(count == timeout, "position could not be held") - + if __name__ == '__main__': import rostest |