sem/5g_drone_ROS2
1
0
Fork 0
Code Issues 1 Pull Requests 1 Actions Packages Projects Releases Wiki Activity

move move away test to different file

Browse Source
This commit is contained in:
Sem van der Hoeven
2023-06-12 11:36:54 +02:00
parent e706a38ea4
commit 7cee4c1543
2 changed files with 97 additions and 34 deletions
Download Patch File Download Diff File Expand all files Collapse all files

34
src/drone_controls/test/test_positionchanger.py
View File

@@ -165,38 +165,4 @@ class TestPositionChanger(unittest.TestCase):
self.node.get_logger().info('Cleaning up')
self.node.destroy_client(move_position_client)
self.node.destroy_subscription(failsafe_subscriber)
self.node.destroy_publisher(lidar_publisher)
def test_positionchanger_lidar_moves_away(self, positionchanger_node, px4_controller_node, proc_output):
self.node.get_logger().info("STARTING TEST test_positionchanger_lidar_moves_away")
lidar_publisher = self.node.create_publisher(
LidarReading, '/drone/object_detection', 10)
move_position_client = self.node.create_client(
MovePosition, '/drone/move_position')
while not move_position_client.wait_for_service(timeout_sec=1.0):
self.node.get_logger().info('move_position service not available, waiting again...')
request = MovePosition.Request()
request.front_back = 1.0
request.left_right = 0.0
request.up_down = 0.0
request.angle = 0.0
lidar_msg = LidarReading()
lidar_msg.sensor_1 = 0.5
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]
end_time = time.time() + 10.0
try:
while time.time() < end_time:
rclpy.spin_once(self.node, timeout_sec=0.1)
lidar_publisher.publish(lidar_msg)
if not self.called_positionchanger_service:
future = move_position_client.call_async(request)
future.add_done_callback(self.move_position_callback)
proc_output.assertWaitFor(expected_output='0.5',process=px4_controller_node)
finally:
self.node.destroy_client(move_position_client)
self.node.destroy_publisher(lidar_publisher)