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Test set_attitude output messages

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This commit is contained in:
Oleg Kalachev
2022-12-08 09:12:20 +03:00
parent db293545df
commit 051d094f37
1 changed files with 8 additions and 0 deletions
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8
clover/test/offboard.py
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@@ -95,6 +95,14 @@ def test_offboard(node):
assert state.pitch == approx(0.2)
assert state.yaw == approx(0.3)
assert state.thrust == approx(0.5)
msg = rospy.wait_for_message('/mavros/setpoint_attitude/attitude', PoseStamped, timeout=3)
# Tait-Bryan ZYX angle (rzyx) converted to quaternion
assert msg.pose.orientation.x == approx(0.0342708)
assert msg.pose.orientation.y == approx(0.10602051)
assert msg.pose.orientation.z == approx(0.14357218)
assert msg.pose.orientation.w == approx(0.98334744)
msg = rospy.wait_for_message('/mavros/setpoint_attitude/thrust', mavros_msgs.msg.Thrust, timeout=3)
assert msg.thrust == approx(0.5)
# test set_rates
res = set_rates(roll_rate=nan, pitch_rate=nan, yaw_rate=0.3, thrust=0.5)