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update attitude and position setpoint topics

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Andreas Antener
2015-04-08 13:41:40 +02:00
parent f8c8876642
commit 9924f5519f
5 changed files with 12 additions and 11 deletions
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integrationtests/demo_tests/mavros_offboard_attctl_test.py
+4 -4
View File
@@ -67,8 +67,8 @@ class MavrosOffboardAttctlTest(unittest.TestCase):
rospy.Subscriber('iris/vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback)
rospy.Subscriber("iris/mavros/position/local", PoseStamped, self.position_callback)
self.pub_att = rospy.Publisher('iris/mavros/setpoint/attitude', PoseStamped, queue_size=10)
self.pub_thr = rospy.Publisher('iris/mavros/setpoint/att_throttle', Float64, queue_size=10)
self.pub_att = rospy.Publisher('iris/mavros/setpoint_attitude/attitude', PoseStamped, queue_size=10)
self.pub_thr = rospy.Publisher('iris/mavros/setpoint_attitude/att_throttle', Float64, queue_size=10)
self.rate = rospy.Rate(10) # 10hz
self.has_pos = False
self.control_mode = vehicle_control_mode()
@@ -110,9 +110,9 @@ class MavrosOffboardAttctlTest(unittest.TestCase):
att.header.stamp = rospy.Time.now()
self.pub_att.publish(att)
self.helper.bag_write('mavros/setpoint/attitude', att)
self.helper.bag_write('mavros/setpoint_attitude/attitude', att)
self.pub_thr.publish(throttle)
self.helper.bag_write('mavros/setpoint/att_throttle', throttle)
self.helper.bag_write('mavros/setpoint_attitude/att_throttle', throttle)
self.rate.sleep()
if (self.local_position.pose.position.x > 5
integrationtests/demo_tests/mavros_offboard_posctl_test.py
+2 -2
View File
@@ -69,7 +69,7 @@ class MavrosOffboardPosctlTest(unittest.TestCase):
rospy.Subscriber('iris/vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback)
rospy.Subscriber("iris/mavros/position/local", PoseStamped, self.position_callback)
self.pub_spt = rospy.Publisher('iris/mavros/setpoint/local_position', PoseStamped, queue_size=10)
self.pub_spt = rospy.Publisher('iris/mavros/setpoint_position/local', PoseStamped, queue_size=10)
self.rate = rospy.Rate(10) # 10hz
self.has_pos = False
self.local_position = PoseStamped()
@@ -128,7 +128,7 @@ class MavrosOffboardPosctlTest(unittest.TestCase):
# update timestamp for each published SP
pos.header.stamp = rospy.Time.now()
self.pub_spt.publish(pos)
self.helper.bag_write('mavros/setpoint/local_position', pos)
self.helper.bag_write('mavros/setpoint_position/local', pos)
if self.is_at_position(pos.pose.position.x, pos.pose.position.y, pos.pose.position.z, 0.5):
break