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add logs after connecting to services

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Sem van der Hoeven
2023-05-15 09:55:18 +02:00
parent 71a7c30cef
commit 03e9b2f20f
1 changed files with 4 additions and 0 deletions
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4
src/test_controls/test_controls/test_controller.py
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@@ -17,16 +17,20 @@ class TestController(Node):
self.cli = self.create_client(SetAttitude, 'drone/set_attitude') self.cli = self.create_client(SetAttitude, 'drone/set_attitude')
while not self.cli.wait_for_service(timeout_sec=1.0): while not self.cli.wait_for_service(timeout_sec=1.0):
self.get_logger().info('set attitude service not available, waiting again...') self.get_logger().info('set attitude service not available, waiting again...')
self.get_logger().info('successfully connected to set attitude service')
self.vehicle_control_cli = self.create_client( self.vehicle_control_cli = self.create_client(
SetVehicleControl, '/drone/set_vehicle_control') SetVehicleControl, '/drone/set_vehicle_control')
while not self.vehicle_control_cli.wait_for_service(timeout_sec=1.0): while not self.vehicle_control_cli.wait_for_service(timeout_sec=1.0):
self.get_logger().info('set vehicle control service not available, waiting again...') self.get_logger().info('set vehicle control service not available, waiting again...')
self.get_logger().info('successfully connected to set vehicle control service')
self.traj_cli = self.create_client(SetTrajectory, '/drone/set_trajectory') self.traj_cli = self.create_client(SetTrajectory, '/drone/set_trajectory')
while not self.traj_cli.wait_for_service(timeout_sec=1.0): while not self.traj_cli.wait_for_service(timeout_sec=1.0):
self.get_logger().info('set trajectory service not available, waiting again...') self.get_logger().info('set trajectory service not available, waiting again...')
self.get_logger().info('successfully connected to set trajectory service')
self.arm_cli = self.create_client(Empty, '/drone/arm') self.arm_cli = self.create_client(Empty, '/drone/arm')
while not self.arm_cli.wait_for_service(timeout_sec=1.0): while not self.arm_cli.wait_for_service(timeout_sec=1.0):
self.get_logger().info('arm service not available, waiting again...') self.get_logger().info('arm service not available, waiting again...')
self.get_logger().info('successfully connected to arm service')
self.get_logger().info('all services available') self.get_logger().info('all services available')
self.control_mode = 1 self.control_mode = 1