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write rosbags

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This commit is contained in:
Andreas Antener
2015-03-15 20:39:57 +01:00
parent 0daf2232ec
commit f3a2c66e89
3 changed files with 32 additions and 1 deletions
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9
integrationtests/demo_tests/direct_offboard_posctl_test.py
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@@ -39,6 +39,7 @@ PKG = 'px4'
import unittest
import rospy
import rosbag
from numpy import linalg
import numpy as np
@@ -62,8 +63,9 @@ class DirectOffboardPosctlTest(unittest.TestCase):
def setUp(self):
rospy.init_node('test_node', anonymous=True)
self.bag = rosbag.Bag('direct_offboard_posctl_test.bag', 'w', compression="lz4")
rospy.Subscriber('iris/vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback)
rospy.Subscriber("iris/vehicle_local_position", vehicle_local_position, self.position_callback)
self.sub_vlp = rospy.Subscriber("iris/vehicle_local_position", vehicle_local_position, self.position_callback)
self.pub_spt = rospy.Publisher('iris/position_setpoint_triplet', position_setpoint_triplet, queue_size=10)
self.rate = rospy.Rate(10) # 10hz
self.has_pos = False
@@ -74,12 +76,17 @@ class DirectOffboardPosctlTest(unittest.TestCase):
if self.fpa:
self.fpa.stop()
self.sub_vlp.unregister()
self.rate.sleep()
self.bag.close()
#
# General callback functions used in tests
#
def position_callback(self, data):
self.has_pos = True
self.local_position = data
self.bag.write('vehicle_local_position', data)
def vehicle_control_mode_callback(self, data):
self.control_mode = data