From 5707bb74c734096b25f21ef45afc1aa09ce2c5f0 Mon Sep 17 00:00:00 2001 From: Sem van der Hoeven Date: Wed, 7 Jun 2023 23:59:30 +0200 Subject: [PATCH] try sending only 1 msg --- src/drone_controls/test/test_positionchanger.py | 10 ++++------ 1 file changed, 4 insertions(+), 6 deletions(-) diff --git a/src/drone_controls/test/test_positionchanger.py b/src/drone_controls/test/test_positionchanger.py index 49138fef..56257043 100644 --- a/src/drone_controls/test/test_positionchanger.py +++ b/src/drone_controls/test/test_positionchanger.py @@ -135,24 +135,22 @@ class TestPositionChanger(unittest.TestCase): lidar_msg.sensor_3 = 2.0 lidar_msg.sensor_4 = 2.0 lidar_msg.imu_data = [1.0,1.0,1.0,1.0] - lidar_messages_published = 0 + sent_lidar_msg = False # wait for nodes to become active time.sleep(3) - self.node.get_logger().info('STARTING WHILE LOOP') # wait 5 seconds for the failsafe to trigger wait_time = time.time() + 5.0 end_time = time.time() + 10.0 try: + self.node.get_logger().info('STARTING WHILE LOOP') while time.time() < end_time: print("yeet") rclpy.spin_once(self.node) - # send 5 lidar messages and after that stop - if (lidar_messages_published < 5): + if not sent_lidar_msg: lidar_publisher.publish(lidar_msg) - lidar_messages_published += 1 - self.node.get_logger().info('Publishing lidar message') + sent_lidar_msg = True # wait 5 seconds before sending the move_position request if not self.called_positionchanger_service and time.time() > wait_time: self.node.get_logger().info('Sending move_position request')