diff options
Diffstat (limited to 'integrationtests')
| -rwxr-xr-x | integrationtests/demo_tests/mavros_offboard_posctl_test.py | 6 |
1 files changed, 6 insertions, 0 deletions
diff --git a/integrationtests/demo_tests/mavros_offboard_posctl_test.py b/integrationtests/demo_tests/mavros_offboard_posctl_test.py index 59f8276b1..533d9ad3c 100755 --- a/integrationtests/demo_tests/mavros_offboard_posctl_test.py +++ b/integrationtests/demo_tests/mavros_offboard_posctl_test.py @@ -55,12 +55,15 @@ class OffboardPosctlTest(unittest.TestCase): def setUp(self): rospy.init_node('test_node', anonymous=True) + rospy.wait_for_service('px4_multicopter/mavros/cmd/arming', 30) rospy.Subscriber('px4_multicopter/vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback) rospy.Subscriber("px4_multicopter/mavros/position/local", PoseStamped, self.position_callback) self.pubSpt = rospy.Publisher('px4_multicopter/mavros/setpoint/local_position', PoseStamped, queue_size=10) self.cmdArm = rospy.ServiceProxy("px4_multicopter/mavros/cmd/arming", CommandBool) self.rate = rospy.Rate(10) # 10hz + self.rateSec = rospy.Rate(1) self.hasPos = False + self.controlMode = vehicle_control_mode() # # General callback functions used in tests @@ -121,6 +124,9 @@ class OffboardPosctlTest(unittest.TestCase): # def test_posctl(self): self.assertTrue(self.arm(), "Could not arm") + self.rateSec.sleep() + self.rateSec.sleep() + self.assertTrue(self.controlMode.flag_armed, "flag_armed is not set after 2 seconds") # prepare flight path assertion positions = ( |