make node publish on status topic

src/api_communication/test/test_api_listener.py

@@ -9,8 +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
 
@@ -31,8 +30,6 @@ def generate_test_description():
         package='drone_controls', executable='position_changer')
     px4_controller_node = launch_ros.actions.Node(
         package='px4_connection', executable='px4_controller')
-    drone_status_node = launch_ros.actions.Node(
-        package='drone_status', executable='drone_status')
     heartbeat_node = launch_ros.actions.Node(
         package='px4_connection', executable='heartbeat')
 
@@ -43,7 +40,6 @@ def generate_test_description():
             camera_node,
             position_changer_node,
             px4_controller_node,
-            drone_status_node,
             heartbeat_node,
             launch_testing.actions.ReadyToTest(),
         ]),
@@ -53,7 +49,6 @@ def generate_test_description():
             'camera_node': camera_node,
             'position_changer_node': position_changer_node,
             'px4_controller_node': px4_controller_node,
-            'drone_status_node': drone_status_node,
             'heartbeat_node': heartbeat_node
         }
     )
@@ -86,19 +81,17 @@ 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):
-
-        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)
+        drone_status_publisher = self.node.create_publisher(DroneStatus, '/drone/status', 10)
-        msg = BatteryStatus()
+        msg = DroneStatus()
-        msg.remaining = 0.10
+        msg.battery_percentage = 10.0
+        msg.armed = True
+        msg. height = 10.0
+        msg.control_mode = "attitude"
+        msg.cpu_usage = 10.0
+        msg.route_setpoint = 0
+        msg.position = [0.0,0.0,0.0]
+        msg.velocity = [0.0,0.0,0.0]
 
         time.sleep(5) # wait for nodes to start
         self.node.get_logger().info("Starting publishing")
@@ -108,10 +101,10 @@ class ApiListenerTest(unittest.TestCase):
             while time.time() < end_time:
                 rclpy.spin_once(self.node, timeout_sec=0.1)
                 # self.node.get_logger().info("publishing message")
-                battery_publisher.publish(msg)
+                drone_status_publisher.publish(msg)
                 if self.received_failsafe_callback:
                     break
             self.assertTrue(self.received_failsafe_callback, "Failsafe was not enabled!")
         finally:
             self.node.destroy_subscription(failsafe_subscriber)
-            self.node.destroy_publisher(battery_publisher)
+            self.node.destroy_publisher(drone_status_publisher)