add test file for px4controller

src/failsafe/test/test_failsafe.py

@@ -66,8 +66,7 @@ class FailsafeUnitTest(unittest.TestCase):
         request.message = "test"
 
         try:
-            end_time = time.time() + 10.0
+            while True:
-            while time.time() < end_time:
                 rclpy.spin_once(self.node, timeout_sec=0.1)
                 if (not self.service_called):
                     future = failsafe_client.call_async(request)

src/px4_connection/CMakeLists.txt

@@ -60,6 +60,10 @@ install(
     DESTINATION share/${PROJECT_NAME}
 )
 
+install(FILES
+    test/test_failsafe_enabled.py
+    DESTINATION lib/${PROJECT_NAME})
+
 if(BUILD_TESTING)
     find_package(ament_lint_auto REQUIRED)
 
@@ -70,6 +74,8 @@ if(BUILD_TESTING)
     # uncomment the line when this package is not in a git repo
     # set(ament_cmake_cpplint_FOUND TRUE)
     ament_lint_auto_find_test_dependencies()
+    find_package(launch_testing_ament_cmake REQUIRED)
+    add_launch_test(test/test_failsafe_enabled.py)
 endif()
 
 ament_package()