diff options
Diffstat (limited to 'integrationtests/demo_tests/mavros_offboard_posctl_test.py')
| -rwxr-xr-x | integrationtests/demo_tests/mavros_offboard_posctl_test.py | 12 |
1 files changed, 12 insertions, 0 deletions
diff --git a/integrationtests/demo_tests/mavros_offboard_posctl_test.py b/integrationtests/demo_tests/mavros_offboard_posctl_test.py index 568c2cbd8..f244d9d07 100755 --- a/integrationtests/demo_tests/mavros_offboard_posctl_test.py +++ b/integrationtests/demo_tests/mavros_offboard_posctl_test.py @@ -40,11 +40,13 @@ PKG = 'px4' import unittest import rospy import math +import rosbag from numpy import linalg import numpy as np from px4.msg import vehicle_control_mode +from px4.msg import vehicle_local_position from std_msgs.msg import Header from geometry_msgs.msg import PoseStamped, Quaternion from tf.transformations import quaternion_from_euler @@ -60,7 +62,9 @@ class MavrosOffboardPosctlTest(unittest.TestCase): def setUp(self): rospy.init_node('test_node', anonymous=True) + self.bag = rosbag.Bag('mavros_offboard_posctl_test.bag', 'w', compression="lz4") 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_spt = rospy.Publisher('iris/mavros/setpoint/local_position', PoseStamped, queue_size=10) self.rate = rospy.Rate(10) # 10hz @@ -68,9 +72,17 @@ class MavrosOffboardPosctlTest(unittest.TestCase): self.local_position = PoseStamped() self.control_mode = vehicle_control_mode() + def tearDown(self): + self.sub_vlp.unregister() + self.rate.sleep() + self.bag.close() + # # 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 |