diff options
Diffstat (limited to 'integrationtests/demo_tests/mavros_offboard_posctl_test.py')
| -rwxr-xr-x | integrationtests/demo_tests/mavros_offboard_posctl_test.py | 8 |
1 files changed, 4 insertions, 4 deletions
diff --git a/integrationtests/demo_tests/mavros_offboard_posctl_test.py b/integrationtests/demo_tests/mavros_offboard_posctl_test.py index 1383cd04c..58e7ae2ed 100755 --- a/integrationtests/demo_tests/mavros_offboard_posctl_test.py +++ b/integrationtests/demo_tests/mavros_offboard_posctl_test.py @@ -67,9 +67,9 @@ class MavrosOffboardPosctlTest(unittest.TestCase): self.helper = PX4TestHelper("mavros_offboard_posctl_test") self.helper.setUp() - 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_spt = rospy.Publisher('iris/mavros/setpoint/local_position', PoseStamped, queue_size=10) + rospy.Subscriber('vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback) + rospy.Subscriber("mavros/local_position/local", PoseStamped, self.position_callback) + self.pub_spt = rospy.Publisher('mavros/setpoint_position/local', PoseStamped, queue_size=10) self.rate = rospy.Rate(10) # 10hz self.has_pos = False self.local_position = PoseStamped() @@ -128,7 +128,7 @@ class MavrosOffboardPosctlTest(unittest.TestCase): # update timestamp for each published SP pos.header.stamp = rospy.Time.now() self.pub_spt.publish(pos) - self.helper.bag_write('mavros/setpoint/local_position', pos) + self.helper.bag_write('mavros/setpoint_position/local', pos) if self.is_at_position(pos.pose.position.x, pos.pose.position.y, pos.pose.position.z, 0.5): break |