def test_manual_input(self):
rospy.init_node('test_node', anonymous=True)
rospy.Subscriber('iris/actuator_armed', actuator_armed, self.actuator_armed_callback)
rospy.Subscriber('iris/vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback)
man_in = ManualInput()
# Test arming
man_in.arm()
self.assertEquals(self.actuator_status.armed, True, "did not arm")
# Test posctl
man_in.posctl()
self.assertTrue(self.control_mode.flag_control_position_enabled, "flag_control_position_enabled is not set")
# Test offboard
man_in.offboard()
self.assertTrue(self.control_mode.flag_control_offboard_enabled, "flag_control_offboard_enabled is not set")
def test_manual_input(self):
rospy.init_node('test_node', anonymous=True)
rospy.Subscriber('iris/actuator_armed', actuator_armed,
self.actuator_armed_callback)
rospy.Subscriber('iris/vehicle_control_mode', vehicle_control_mode,
self.vehicle_control_mode_callback)
man_in = ManualInput()
# Test arming
man_in.arm()
self.assertEquals(self.actuator_status.armed, True, "did not arm")
# Test posctl
man_in.posctl()
self.assertTrue(self.control_mode.flag_control_position_enabled,
"flag_control_position_enabled is not set")
# Test offboard
man_in.offboard()
self.assertTrue(self.control_mode.flag_control_offboard_enabled,
"flag_control_offboard_enabled is not set")
