Added Roll Pitch Yawrate Thrust offboard test. Testing...

integrationtests/python_src/px4_it/mavros/mavros_test_common.py

@@ -10,7 +10,7 @@ from mavros_msgs.msg import Altitude, ExtendedState, HomePosition, State, \
 from mavros_msgs.srv import CommandBool, ParamGet, SetMode, WaypointClear, \
                             WaypointPush
 from pymavlink import mavutil
-from sensor_msgs.msg import NavSatFix
+from sensor_msgs.msg import NavSatFix, Imu
 from six.moves import xrange
 
 
@@ -22,6 +22,7 @@ class MavrosTestCommon(unittest.TestCase):
         self.altitude = Altitude()
         self.extended_state = ExtendedState()
         self.global_position = NavSatFix()
+        self.imu_data = Imu()
         self.home_position = HomePosition()
         self.local_position = PoseStamped()
         self.mission_wp = WaypointList()
@@ -32,7 +33,7 @@ class MavrosTestCommon(unittest.TestCase):
             key: False
             for key in [
                 'alt', 'ext_state', 'global_pos', 'home_pos', 'local_pos',
-                'mission_wp', 'state'
+                'mission_wp', 'state', 'imu'
             ]
         }
 
@@ -66,6 +67,9 @@ class MavrosTestCommon(unittest.TestCase):
         self.global_pos_sub = rospy.Subscriber('mavros/global_position/global',
                                                NavSatFix,
                                                self.global_position_callback)
+        self.imu_data_sub = rospy.Subscriber('mavros/imu/data',
+                                               Imu,
+                                               self.imu_data_callback)
         self.home_pos_sub = rospy.Subscriber('mavros/home_position/home',
                                              HomePosition,
                                              self.home_position_callback)
@@ -114,6 +118,12 @@ class MavrosTestCommon(unittest.TestCase):
         if not self.sub_topics_ready['global_pos']:
             self.sub_topics_ready['global_pos'] = True
 
+    def imu_data_callback(self, data):
+        self.imu_data = data
+
+        if not self.sub_topics_ready['imu']:
+            self.sub_topics_ready['imu'] = True
+
     def home_position_callback(self, data):
         self.home_position = data