Test with additional frame

clover/test/offboard.py

@@ -139,6 +139,20 @@ def test_offboard(node, tf_buffer):
     assert state.z_frame_id == 'map'
     assert state.yaw_frame_id == 'map'
 
+    # set xy in test frame
+    res = navigate(x=1, y=2, z=nan, frame_id='test')
+    assert res.success == True
+    state = get_state()
+    assert state.mode == State.MODE_NAVIGATE
+    assert state.yaw_mode == State.YAW_MODE_YAW
+    assert state.x == 1
+    assert state.y == 2
+    assert state.z == 4
+    assert state.yaw == 0
+    assert state.xy_frame_id == 'test'
+    assert state.z_frame_id == 'map'
+    assert state.yaw_frame_id == 'test'
+
     # auto_arm should invalidate the setpoint
     res = navigate(x=nan, y=nan, z=1, frame_id='map', auto_arm=True)
     assert res.success == True

clover/test/offboard.test

@@ -1,6 +1,8 @@
 <launch>
     <node name="simple_offboard" pkg="clover" type="simple_offboard" required="true" output="screen"/>
 
+    <node pkg="tf2_ros" type="static_transform_publisher" name="test_frame" args="10 20 30 0 0 0 map test"/>
+
     <param name="test_module" value="$(find clover)/test/offboard.py"/>
     <test test-name="offboard_test" pkg="ros_pytest" type="ros_pytest_runner"/>
 </launch>