update attitude and position setpoint topics

1 files changed, 4 insertions, 4 deletions

diff --git a/integrationtests/demo_tests/mavros_offboard_attctl_test.py b/integrationtests/demo_tests/mavros_offboard_attctl_test.py
index ef875ce61..63e2922d0 100755
--- a/integrationtests/demo_tests/mavros_offboard_attctl_test.py
+++ b/integrationtests/demo_tests/mavros_offboard_attctl_test.py
@@ -67,8 +67,8 @@ class MavrosOffboardAttctlTest(unittest.TestCase):
 
         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.pub_att = rospy.Publisher('iris/mavros/setpoint/attitude', PoseStamped, queue_size=10)
-        self.pub_thr = rospy.Publisher('iris/mavros/setpoint/att_throttle', Float64, queue_size=10)
+        self.pub_att = rospy.Publisher('iris/mavros/setpoint_attitude/attitude', PoseStamped, queue_size=10)
+        self.pub_thr = rospy.Publisher('iris/mavros/setpoint_attitude/att_throttle', Float64, queue_size=10)
         self.rate = rospy.Rate(10) # 10hz
         self.has_pos = False
         self.control_mode = vehicle_control_mode()
@@ -110,9 +110,9 @@ class MavrosOffboardAttctlTest(unittest.TestCase):
             att.header.stamp = rospy.Time.now()
 
             self.pub_att.publish(att)
-            self.helper.bag_write('mavros/setpoint/attitude', att)
+            self.helper.bag_write('mavros/setpoint_attitude/attitude', att)
             self.pub_thr.publish(throttle)
-            self.helper.bag_write('mavros/setpoint/att_throttle', throttle)
+            self.helper.bag_write('mavros/setpoint_attitude/att_throttle', throttle)
             self.rate.sleep()
 
             if (self.local_position.pose.position.x > 5