1 files changed, 59 insertions, 0 deletions
diff --git a/integrationtests/demo_tests/manual_input.py b/integrationtests/demo_tests/manual_input.py
new file mode 100755
index 000000000..4bf508509
--- /dev/null
+++ b/integrationtests/demo_tests/manual_input.py
@@ -0,0 +1,59 @@
+#!/usr/bin/env python
+import sys
+import rospy
+
+from sensor_msgs.msg import Joy
+from std_msgs.msg import Header
+
+
+#
+# Manual input control helper, fakes joystick input
+# > needs to correspond to default mapping in manual_input node
+#
+class ManualInput:
+
+	def __init__(self):
+		rospy.init_node('test_node', anonymous=True)
+		self.joyPx4 = rospy.Publisher('px4_multicopter/joy', Joy, queue_size=10)
+		self.joyIris = rospy.Publisher('iris/joy', Joy, queue_size=10)
+
+	def arm(self):
+		rate = rospy.Rate(10) # 10hz
+
+		msg = Joy()
+		msg.header = Header()
+		msg.buttons = [0, 0, 0, 0, 0]
+		msg.axes = [-0.0, -0.0, 1.0, -0.0, -0.0, 0.0, 0.0] 
+		count = 0
+		while not rospy.is_shutdown() and count < 10:
+			rospy.loginfo("zeroing")
+			self.joyPx4.publish(msg)
+			self.joyIris.publish(msg)
+			rate.sleep()
+			count = count + 1 
+
+		msg.buttons = [0, 0, 0, 0, 0]
+		msg.axes = [-1.0, -0.0, 1.0, -0.0, -0.0, 0.0, 0.0] 
+		count = 0
+		while not rospy.is_shutdown() and count < 10:
+			rospy.loginfo("arming")
+			self.joyPx4.publish(msg)
+			self.joyIris.publish(msg)
+			rate.sleep()
+			count = count + 1
+
+	def posctl(self):
+		rate = rospy.Rate(10) # 10hz
+
+		# triggers posctl
+		msg = Joy()
+		msg.header = Header()
+		msg.buttons = [0, 0, 1, 0, 0]
+		msg.axes = [-0.0, -0.0, 1.0, -0.0, -0.0, 0.0, 0.0] 
+		count = 0
+		while not rospy.is_shutdown() and count < 10:
+			rospy.loginfo("triggering posctl")
+			self.joyPx4.publish(msg)
+			self.joyIris.publish(msg)
+			rate.sleep()
+			count = count + 1