write more bags, use helper class to log default topics

1 files changed, 9 insertions, 8 deletions

diff --git a/integrationtests/demo_tests/mavros_offboard_attctl_test.py b/integrationtests/demo_tests/mavros_offboard_attctl_test.py
index aa6bd8d9f..ef875ce61 100755
--- a/integrationtests/demo_tests/mavros_offboard_attctl_test.py
+++ b/integrationtests/demo_tests/mavros_offboard_attctl_test.py
@@ -43,10 +43,13 @@ import rosbag
 
 from px4.msg import vehicle_control_mode
 from px4.msg import vehicle_local_position
+from px4.msg import vehicle_attitude_setpoint
+from px4.msg import vehicle_attitude
 from std_msgs.msg import Header
 from std_msgs.msg import Float64
 from geometry_msgs.msg import PoseStamped, Quaternion
 from tf.transformations import quaternion_from_euler
+from px4_test_helper import PX4TestHelper
 
 #
 # Tests flying a path in offboard control by sending attitude and thrust setpoints
@@ -58,10 +61,11 @@ class MavrosOffboardAttctlTest(unittest.TestCase):
 
     def setUp(self):
         rospy.init_node('test_node', anonymous=True)
-        self.bag = rosbag.Bag('mavros_offboard_attctl_test.bag', 'w', compression="lz4")
         rospy.wait_for_service('iris/mavros/cmd/arming', 30)
+        self.helper = PX4TestHelper("mavros_offboard_attctl_test")
+        self.helper.setUp()
+
         rospy.Subscriber('iris/vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback)
-        self.sub_vlp = rospy.Subscriber("iris/vehicle_local_position", vehicle_local_position, self.vehicle_position_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)
@@ -71,16 +75,11 @@ class MavrosOffboardAttctlTest(unittest.TestCase):
         self.local_position = PoseStamped()
 
     def tearDown(self):
-        self.sub_vlp.unregister()
-        self.rate.sleep()
-        self.bag.close()
+        self.helper.tearDown()
 
     #
     # General callback functions used in tests
     #
-    def vehicle_position_callback(self, data):
-        self.bag.write('vehicle_local_position', data)
-
     def position_callback(self, data):
         self.has_pos = True
         self.local_position = data
@@ -111,7 +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.pub_thr.publish(throttle)
+            self.helper.bag_write('mavros/setpoint/att_throttle', throttle)
             self.rate.sleep()
 
             if (self.local_position.pose.position.x > 5