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add switching lidar direction

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Sem van der Hoeven
2023-06-12 16:08:36 +02:00
parent 8034702db0
commit 6dcaaef638
1 changed files with 6 additions and 1 deletions
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7
src/drone_controls/test/test_positionchanger_lidar.py
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@@ -89,9 +89,11 @@ class TestPositionChanger(unittest.TestCase):
self.request.up_down = 0.0
self.request.angle = 0.0
lidar_msgs_sent = 0
lidar_msg = LidarReading()
lidar_msg.sensor_1 = 0.5
lidar_msg.sensor_2 = 0.3
lidar_msg.sensor_2 = 2.0
lidar_msg.sensor_3 = 2.0
lidar_msg.sensor_4 = 2.0
lidar_msg.imu_data = [1.0, 1.0, 1.0, 1.0]
@@ -102,6 +104,9 @@ class TestPositionChanger(unittest.TestCase):
while time.time() < end_time:
rclpy.spin_once(self.node, timeout_sec=0.1)
self.lidar_publisher.publish(lidar_msg)
lidar_msgs_sent += 1
if (lidar_msgs_sent == 10):
lidar_msg.sensor_2 = 0.3
if not self.called_positionchanger_service:
future = self.move_position_client.call_async(self.request)
future.add_done_callback(self.move_position_callback)