From 8cc120c10f64e2862ea14e2c1a83a845e0bbfe7f Mon Sep 17 00:00:00 2001 From: Sem van der Hoeven Date: Fri, 9 Jun 2023 19:37:14 +0200 Subject: [PATCH] add qos profile --- src/api_communication/test/test_api_listener.py | 14 +++++++++++--- 1 file changed, 11 insertions(+), 3 deletions(-) diff --git a/src/api_communication/test/test_api_listener.py b/src/api_communication/test/test_api_listener.py index 0431ceac..7e51290b 100644 --- a/src/api_communication/test/test_api_listener.py +++ b/src/api_communication/test/test_api_listener.py @@ -9,7 +9,7 @@ import launch_ros.actions import launch_testing.actions import pytest import rclpy - +from rclpy import qos from px4_msgs.msg import BatteryStatus from drone_services.msg import FailsafeMsg from drone_services.msg import DroneStatus @@ -86,7 +86,15 @@ class ApiListenerTest(unittest.TestCase): self.node.get_logger().info("Received status callback " + str(msg)) def test_api_listener_battery(self, api_listener_node, proc_output): - battery_publisher = self.node.create_publisher(BatteryStatus, '/fmu/out/battery_status',10) + + qos_profile = qos.QoSProfile( + reliability=qos.QoSReliabilityPolicy.RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT, + durability=qos.QoSDurabilityPolicy.RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL, + history=qos.QoSHistoryPolicy.RMW_QOS_POLICY_HISTORY_KEEP_LAST, + depth=1 + ) + + battery_publisher = self.node.create_publisher(BatteryStatus, '/fmu/out/battery_status',qos_profile=qos_profile) failsafe_subscriber = self.node.create_subscription(FailsafeMsg, '/drone/failsafe', self.failsafe_callback, 10) drone_status_subscriber = self.node.create_subscription(DroneStatus, '/drone/status', self.status_callback, 10) msg = BatteryStatus() @@ -99,7 +107,7 @@ class ApiListenerTest(unittest.TestCase): try: while time.time() < end_time: rclpy.spin_once(self.node, timeout_sec=0.1) - self.node.get_logger().info("publishing message") + # self.node.get_logger().info("publishing message") battery_publisher.publish(msg) if self.received_failsafe_callback: break