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collision log msgs

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Sem van der Hoeven
2023-06-12 12:03:59 +02:00
parent d0d27552cf
commit b7cba3e2ec
2 changed files with 5 additions and 1 deletions
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4
src/drone_controls/src/PositionChanger.cpp
View File

@@ -225,6 +225,7 @@ public:
{
if (!this->move_direction_allowed[MOVE_DIRECTION_FRONT])
{
RCLCPP_INFO(this->get_logger(), "Collision prevention front: %d", collision_prevention_weights[MOVE_DIRECTION_FRONT])
this->current_speed_x = collision_prevention_weights[MOVE_DIRECTION_FRONT];
}
}
@@ -232,6 +233,7 @@ public:
{
if (!this->move_direction_allowed[MOVE_DIRECTION_BACK])
{
RCLCPP_INFO(this->get_logger(), "Collision prevention back: %d", collision_prevention_weights[MOVE_DIRECTION_BACK])
this->current_speed_x = collision_prevention_weights[MOVE_DIRECTION_BACK];
}
}
@@ -239,6 +241,7 @@ public:
{
if (!this->move_direction_allowed[MOVE_DIRECTION_RIGHT])
{
RCLCPP_INFO(this->get_logger(), "Collision prevention right: %d", collision_prevention_weights[MOVE_DIRECTION_RIGHT])
this->current_speed_y = collision_prevention_weights[MOVE_DIRECTION_RIGHT];
}
}
@@ -246,6 +249,7 @@ public:
{
if (!this->move_direction_allowed[MOVE_DIRECTION_LEFT])
{
RCLCPP_INFO(this->get_logger(), "Collision prevention left: %d", collision_prevention_weights[MOVE_DIRECTION_LEFT])
this->current_speed_y = collision_prevention_weights[MOVE_DIRECTION_LEFT];
}
}

2
src/drone_controls/test/test_positionchanger_lidar.py
View File

@@ -98,7 +98,7 @@ class TestPositionChanger(unittest.TestCase):
if not self.called_positionchanger_service:
future = move_position_client.call_async(request)
future.add_done_callback(self.move_position_callback)
launch_testing.asserts.assertInStdout(proc_output, "0.5", '')
launch_testing.asserts.assertInStdout(proc_output, "0.5", 'px4_controller-3')
finally:
self.node.destroy_client(move_position_client)
self.node.destroy_publisher(lidar_publisher)