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try sending only 1 msg

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Sem van der Hoeven
2023-06-07 23:59:30 +02:00
parent 39929b6d58
commit 5707bb74c7
1 changed files with 4 additions and 6 deletions
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10
src/drone_controls/test/test_positionchanger.py
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@@ -135,24 +135,22 @@ class TestPositionChanger(unittest.TestCase):
lidar_msg.sensor_3 = 2.0 lidar_msg.sensor_3 = 2.0
lidar_msg.sensor_4 = 2.0 lidar_msg.sensor_4 = 2.0
lidar_msg.imu_data = [1.0,1.0,1.0,1.0] 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 # wait for nodes to become active
time.sleep(3) time.sleep(3)
self.node.get_logger().info('STARTING WHILE LOOP')
# wait 5 seconds for the failsafe to trigger # wait 5 seconds for the failsafe to trigger
wait_time = time.time() + 5.0 wait_time = time.time() + 5.0
end_time = time.time() + 10.0 end_time = time.time() + 10.0
try: try:
self.node.get_logger().info('STARTING WHILE LOOP')
while time.time() < end_time: while time.time() < end_time:
print("yeet") print("yeet")
rclpy.spin_once(self.node) rclpy.spin_once(self.node)
# send 5 lidar messages and after that stop if not sent_lidar_msg:
if (lidar_messages_published < 5):
lidar_publisher.publish(lidar_msg) lidar_publisher.publish(lidar_msg)
lidar_messages_published += 1 sent_lidar_msg = True
self.node.get_logger().info('Publishing lidar message')
# wait 5 seconds before sending the move_position request # wait 5 seconds before sending the move_position request
if not self.called_positionchanger_service and time.time() > wait_time: if not self.called_positionchanger_service and time.time() > wait_time:
self.node.get_logger().info('Sending move_position request') self.node.get_logger().info('Sending move_position request')