diff options
Diffstat (limited to 'integrationtests/demo_tests/direct_offboard_posctl_test.py')
| -rwxr-xr-x | integrationtests/demo_tests/direct_offboard_posctl_test.py | 9 |
1 files changed, 8 insertions, 1 deletions
diff --git a/integrationtests/demo_tests/direct_offboard_posctl_test.py b/integrationtests/demo_tests/direct_offboard_posctl_test.py index d61eec063..d71354059 100755 --- a/integrationtests/demo_tests/direct_offboard_posctl_test.py +++ b/integrationtests/demo_tests/direct_offboard_posctl_test.py @@ -39,6 +39,7 @@ PKG = 'px4' import unittest import rospy +import rosbag from numpy import linalg import numpy as np @@ -62,8 +63,9 @@ class DirectOffboardPosctlTest(unittest.TestCase): def setUp(self): rospy.init_node('test_node', anonymous=True) + self.bag = rosbag.Bag('direct_offboard_posctl_test.bag', 'w', compression="lz4") rospy.Subscriber('iris/vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback) - rospy.Subscriber("iris/vehicle_local_position", vehicle_local_position, self.position_callback) + self.sub_vlp = rospy.Subscriber("iris/vehicle_local_position", vehicle_local_position, self.position_callback) self.pub_spt = rospy.Publisher('iris/position_setpoint_triplet', position_setpoint_triplet, queue_size=10) self.rate = rospy.Rate(10) # 10hz self.has_pos = False @@ -74,12 +76,17 @@ class DirectOffboardPosctlTest(unittest.TestCase): if self.fpa: self.fpa.stop() + self.sub_vlp.unregister() + self.rate.sleep() + self.bag.close() + # # General callback functions used in tests # def position_callback(self, data): self.has_pos = True self.local_position = data + self.bag.write('vehicle_local_position', data) def vehicle_control_mode_callback(self, data): self.control_mode = data |