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extra log msg

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Sem van der Hoeven
2023-06-12 15:36:37 +02:00
parent 21683cb92c
commit d451b78e96
2 changed files with 2 additions and 2 deletions
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2
src/drone_controls/src/PositionChanger.cpp
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@@ -275,7 +275,7 @@ public:
: (MIN_DISTANCE - std::min(this->lidar_sensor_values[LIDAR_SENSOR_RL], this->lidar_sensor_values[LIDAR_SENSOR_RR])); : (MIN_DISTANCE - std::min(this->lidar_sensor_values[LIDAR_SENSOR_RL], this->lidar_sensor_values[LIDAR_SENSOR_RR]));
collision_prevention_weights[MOVE_DIRECTION_RIGHT] = this->move_direction_allowed[MOVE_DIRECTION_RIGHT] ? 0 collision_prevention_weights[MOVE_DIRECTION_RIGHT] = this->move_direction_allowed[MOVE_DIRECTION_RIGHT] ? 0
: -(MIN_DISTANCE - std::min(this->lidar_sensor_values[LIDAR_SENSOR_RR], this->lidar_sensor_values[LIDAR_SENSOR_FR])); : -(MIN_DISTANCE - std::min(this->lidar_sensor_values[LIDAR_SENSOR_RR], this->lidar_sensor_values[LIDAR_SENSOR_FR]));
RCLCPP_INFO(this->get_logger(), "Collision prevention weights: %f, %f, %f, %f", collision_prevention_weights[MOVE_DIRECTION_FRONT], collision_prevention_weights[MOVE_DIRECTION_LEFT], collision_prevention_weights[MOVE_DIRECTION_BACK], collision_prevention_weights[MOVE_DIRECTION_RIGHT]);
apply_collision_weights(); apply_collision_weights();
} }

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

@@ -99,7 +99,7 @@ class TestPositionChanger(unittest.TestCase):
if not self.called_positionchanger_service: if not self.called_positionchanger_service:
future = move_position_client.call_async(request) future = move_position_client.call_async(request)
future.add_done_callback(self.move_position_callback) future.add_done_callback(self.move_position_callback)
launch_testing.asserts.assertInStdout(proc_output, "Collision prevention front", 'px4_controller-3') launch_testing.asserts.assertInStderr(proc_output, "Collision prevention front", 'px4_controller-3')
finally: finally:
self.node.destroy_client(move_position_client) self.node.destroy_client(move_position_client)
self.node.destroy_publisher(lidar_publisher) self.node.destroy_publisher(lidar_publisher)