diff options
Diffstat (limited to 'integrationtests')
3 files changed, 32 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 diff --git a/integrationtests/demo_tests/mavros_offboard_attctl_test.py b/integrationtests/demo_tests/mavros_offboard_attctl_test.py index 30e9fe9ba..aa6bd8d9f 100755 --- a/integrationtests/demo_tests/mavros_offboard_attctl_test.py +++ b/integrationtests/demo_tests/mavros_offboard_attctl_test.py @@ -39,8 +39,10 @@ PKG = 'px4' import unittest import rospy +import rosbag from px4.msg import vehicle_control_mode +from px4.msg import vehicle_local_position from std_msgs.msg import Header from std_msgs.msg import Float64 from geometry_msgs.msg import PoseStamped, Quaternion @@ -56,8 +58,10 @@ class MavrosOffboardAttctlTest(unittest.TestCase): def setUp(self): rospy.init_node('test_node', anonymous=True) + self.bag = rosbag.Bag('mavros_offboard_attctl_test.bag', 'w', compression="lz4") rospy.wait_for_service('iris/mavros/cmd/arming', 30) 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_att = rospy.Publisher('iris/mavros/setpoint/attitude', PoseStamped, queue_size=10) self.pub_thr = rospy.Publisher('iris/mavros/setpoint/att_throttle', Float64, queue_size=10) @@ -66,9 +70,17 @@ class MavrosOffboardAttctlTest(unittest.TestCase): self.control_mode = vehicle_control_mode() self.local_position = PoseStamped() + 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 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 |