wait on armin service and wait 2 seconds after calling it

integrationtests/demo_tests/mavros_offboard_posctl_test.py

@@ -55,12 +55,15 @@ class OffboardPosctlTest(unittest.TestCase):
 
     def setUp(self):
         rospy.init_node('test_node', anonymous=True)
+        rospy.wait_for_service('px4_multicopter/mavros/cmd/arming', 30)
         rospy.Subscriber('px4_multicopter/vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback)
         rospy.Subscriber("px4_multicopter/mavros/position/local", PoseStamped, self.position_callback)
         self.pubSpt = rospy.Publisher('px4_multicopter/mavros/setpoint/local_position', PoseStamped, queue_size=10)
         self.cmdArm = rospy.ServiceProxy("px4_multicopter/mavros/cmd/arming", CommandBool)
         self.rate = rospy.Rate(10) # 10hz
+        self.rateSec = rospy.Rate(1)
         self.hasPos = False
+        self.controlMode = vehicle_control_mode()
 
     #
     # General callback functions used in tests
@@ -121,6 +124,9 @@ class OffboardPosctlTest(unittest.TestCase):
     #
     def test_posctl(self):
         self.assertTrue(self.arm(), "Could not arm")
+        self.rateSec.sleep()
+        self.rateSec.sleep()
+        self.assertTrue(self.controlMode.flag_armed, "flag_armed is not set after 2 seconds")
 
         # prepare flight path assertion
         positions = (