From 6dcaaef6380ecbc98a691350715ad56b2d7f5b9f Mon Sep 17 00:00:00 2001 From: Sem van der Hoeven Date: Mon, 12 Jun 2023 16:08:36 +0200 Subject: [PATCH] add switching lidar direction --- src/drone_controls/test/test_positionchanger_lidar.py | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/src/drone_controls/test/test_positionchanger_lidar.py b/src/drone_controls/test/test_positionchanger_lidar.py index 82d2fdef..5e8d7189 100644 --- a/src/drone_controls/test/test_positionchanger_lidar.py +++ b/src/drone_controls/test/test_positionchanger_lidar.py @@ -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)