px4-firmware/integrationtests/demo_tests/direct_arm_test.py

#!/usr/bin/env python
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#
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#
# @author Andreas Antener <andreas@uaventure.com>
#
PKG = 'px4'

import sys
import unittest
import rospy

from px4.msg import actuator_armed
from manual_input import ManualInput

class ArmTest(unittest.TestCase):

    #
    # General callback functions used in tests
    #
    def actuator_armed_callback(self, data):
        self.actuatorStatus = data
    
    #
    # Test arming
    #
    def test_arm(self):
        rospy.init_node('test_node', anonymous=True)
        sub = rospy.Subscriber('px4_multicopter/actuator_armed', actuator_armed, self.actuator_armed_callback)

        # method to test
        arm = ManualInput()
        arm.arm()

        self.assertEquals(self.actuatorStatus.armed, True, "not armed")


    

if __name__ == '__main__':
    import rostest
    rostest.rosrun(PKG, 'arm_test', ArmTest)