sem/5g_drone_ROS2
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show which service is waiting

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Sem van der Hoeven
2023-06-07 17:27:31 +02:00
parent a8facbf521
commit cc9f4e7f5c
1 changed files with 6 additions and 6 deletions
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12
src/px4_connection/test/test_failsafe_enabled.py
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@@ -74,9 +74,9 @@ class TestPx4Failsafe(unittest.TestCase):
failsafe_client = self.node.create_client(EnableFailsafe, '/drone/enable_failsafe') failsafe_client = self.node.create_client(EnableFailsafe, '/drone/enable_failsafe')
set_trajectory_client = self.node.create_client(SetTrajectory, '/drone/set_trajectory') set_trajectory_client = self.node.create_client(SetTrajectory, '/drone/set_trajectory')
while not failsafe_client.wait_for_service(timeout_sec=1.0): while not failsafe_client.wait_for_service(timeout_sec=1.0):
self.node.get_logger().info('service not available, waiting again...') self.node.get_logger().info('failsafe service not available, waiting again...')
while not set_trajectory_client.wait_for_service(timeout_sec=1.0): while not set_trajectory_client.wait_for_service(timeout_sec=1.0):
self.node.get_logger().info('service not available, waiting again...') self.node.get_logger().info('set_trajectory service not available, waiting again...')
failsafe_request = EnableFailsafe.Request() failsafe_request = EnableFailsafe.Request()
failsafe_request.message = "test" failsafe_request.message = "test"
set_trajectory_request = SetTrajectory.Request() set_trajectory_request = SetTrajectory.Request()
@@ -106,9 +106,9 @@ class TestPx4Failsafe(unittest.TestCase):
failsafe_client = self.node.create_client(EnableFailsafe, '/drone/enable_failsafe') failsafe_client = self.node.create_client(EnableFailsafe, '/drone/enable_failsafe')
set_attitude_client = self.node.create_client(SetAttitude, '/drone/set_attitude') set_attitude_client = self.node.create_client(SetAttitude, '/drone/set_attitude')
while not failsafe_client.wait_for_service(timeout_sec=1.0): while not failsafe_client.wait_for_service(timeout_sec=1.0):
self.node.get_logger().info('service not available, waiting again...') self.node.get_logger().info('failsafe not available, waiting again...')
while not set_attitude_client.wait_for_service(timeout_sec=1.0): while not set_attitude_client.wait_for_service(timeout_sec=1.0):
self.node.get_logger().info('service not available, waiting again...') self.node.get_logger().info('attitude not available, waiting again...')
failsafe_request = EnableFailsafe.Request() failsafe_request = EnableFailsafe.Request()
failsafe_request.message = "test" failsafe_request.message = "test"
set_attitude_request = SetAttitude.Request() set_attitude_request = SetAttitude.Request()
@@ -139,9 +139,9 @@ class TestPx4Failsafe(unittest.TestCase):
failsafe_client = self.node.create_client(EnableFailsafe, '/drone/enable_failsafe') failsafe_client = self.node.create_client(EnableFailsafe, '/drone/enable_failsafe')
arm_client = self.node.create_client(ArmDrone, '/drone/arm') arm_client = self.node.create_client(ArmDrone, '/drone/arm')
while not failsafe_client.wait_for_service(timeout_sec=1.0): while not failsafe_client.wait_for_service(timeout_sec=1.0):
self.node.get_logger().info('service not available, waiting again...') self.node.get_logger().info('failsafe not available, waiting again...')
while not arm_client.wait_for_service(timeout_sec=1.0): while not arm_client.wait_for_service(timeout_sec=1.0):
self.node.get_logger().info('service not available, waiting again...') self.node.get_logger().info('arm not available, waiting again...')
failsafe_request = EnableFailsafe.Request() failsafe_request = EnableFailsafe.Request()
failsafe_request.message = "test" failsafe_request.message = "test"
arm_request = ArmDrone.Request() arm_request = ArmDrone.Request()