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Tools: ROS 2 update tests for time messages 

Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
This commit is contained in:
Rhys Mainwaring 2023-05-10 10:48:35 +01:00 committed by Andrew Tridgell
parent fd775bf08d
commit 628473c42e
2 changed files with 9 additions and 9 deletions
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6
Tools/ros2/ardupilot_dds_tests/ardupilot_dds_tests/time_listener.py
View File

@ -13,7 +13,7 @@
# You should have received a copy of the GNU General Public License
# along with this program. If not, see <https://www.gnu.org/licenses/>.
"""Subscribe to Time messages on topic /ap/clock."""
"""Subscribe to Time messages on topic /ap/time."""
import rclpy
import time
@ -22,14 +22,14 @@ from builtin_interfaces.msg import Time
class TimeListener(Node):
"""Subscribe to Time messages on topic /ap/clock."""
"""Subscribe to Time messages on topic /ap/time."""
def __init__(self):
"""Initialise the node."""
super().__init__("time_listener")
# Declare and acquire `topic` parameter.
self.declare_parameter("topic", "ap/clock")
self.declare_parameter("topic", "ap/time")
self.topic = self.get_parameter("topic").get_parameter_value().string_value
# Subscriptions.

12
Tools/ros2/ardupilot_dds_tests/test/ardupilot_dds_tests/test_time_msg_received.py
View File

@ -28,7 +28,7 @@ from builtin_interfaces.msg import Time
class TimeListener(rclpy.node.Node):
"""Subscribe to Time messages on /ap/clock."""
"""Subscribe to Time messages on /ap/time."""
def __init__(self):
"""Initialise the node."""
@ -36,7 +36,7 @@ class TimeListener(rclpy.node.Node):
self.msg_event_object = threading.Event()
# Declare and acquire `topic` parameter.
self.declare_parameter("topic", "ap/clock")
self.declare_parameter("topic", "ap/time")
self.topic = self.get_parameter("topic").get_parameter_value().string_value
def start_subscriber(self):
@ -94,8 +94,8 @@ def launch_sitl_copter_dds_udp(sitl_copter_dds_udp):
@pytest.mark.launch(fixture=launch_sitl_copter_dds_serial)
def test_dds_serial_clock_msg_recv(launch_context, launch_sitl_copter_dds_serial):
"""Test /ap/clock is published by AP_DDS."""
def test_dds_serial_time_msg_recv(launch_context, launch_sitl_copter_dds_serial):
"""Test /ap/time is published by AP_DDS."""
_, actions = launch_sitl_copter_dds_serial
virtual_ports = actions["virtual_ports"].action
micro_ros_agent = actions["micro_ros_agent"].action
@ -120,8 +120,8 @@ def test_dds_serial_clock_msg_recv(launch_context, launch_sitl_copter_dds_serial
@pytest.mark.launch(fixture=launch_sitl_copter_dds_udp)
def test_dds_udp_clock_msg_recv(launch_context, launch_sitl_copter_dds_udp):
"""Test /ap/clock is published by AP_DDS."""
def test_dds_udp_time_msg_recv(launch_context, launch_sitl_copter_dds_udp):
"""Test /ap/time is published by AP_DDS."""
_, actions = launch_sitl_copter_dds_udp
micro_ros_agent = actions["micro_ros_agent"].action
mavproxy = actions["mavproxy"].action