diff options
Diffstat (limited to 'integrationtests/demo_tests/direct_offboard_posctl_test.py')
-rwxr-xr-x | integrationtests/demo_tests/direct_offboard_posctl_test.py | 13 |
1 files changed, 8 insertions, 5 deletions
diff --git a/integrationtests/demo_tests/direct_offboard_posctl_test.py b/integrationtests/demo_tests/direct_offboard_posctl_test.py index d71354059..734bcf590 100755 --- a/integrationtests/demo_tests/direct_offboard_posctl_test.py +++ b/integrationtests/demo_tests/direct_offboard_posctl_test.py @@ -48,9 +48,11 @@ from px4.msg import vehicle_local_position from px4.msg import vehicle_control_mode from px4.msg import position_setpoint_triplet from px4.msg import position_setpoint +from px4.msg import vehicle_local_position_setpoint from manual_input import ManualInput from flight_path_assertion import FlightPathAssertion +from px4_test_helper import PX4TestHelper # # Tests flying a path in offboard control by directly sending setpoints @@ -63,7 +65,9 @@ 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") + self.helper = PX4TestHelper("direct_offboard_posctl_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.position_callback) self.pub_spt = rospy.Publisher('iris/position_setpoint_triplet', position_setpoint_triplet, queue_size=10) @@ -76,17 +80,15 @@ class DirectOffboardPosctlTest(unittest.TestCase): if self.fpa: self.fpa.stop() - self.sub_vlp.unregister() - self.rate.sleep() - self.bag.close() + self.helper.tearDown() # # 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 @@ -112,6 +114,7 @@ class DirectOffboardPosctlTest(unittest.TestCase): stp = position_setpoint_triplet() stp.current = pos self.pub_spt.publish(stp) + self.helper.bag_write('px4/position_setpoint_triplet', stp) # does it reach the position in X seconds? count = 0 |