mirror of https://github.com/ArduPilot/ardupilot
AP_DDS: Implement joystick support
Signed-off-by: Ryan Friedman <ryan.friedman+github@avinc.com> Co-Authored-by: Tiziano Fiorenzani
This commit is contained in:
Ryan Friedman
Peter Barker
parent
b6f20e3786
commit
1bdc635ba8
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# Copyright 2023 ArduPilot.org.
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#
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# This program is free software: you can redistribute it and/or modify
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# it under the terms of the GNU General Public License as published by
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# the Free Software Foundation, either version 3 of the License, or
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# (at your option) any later version.
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#
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# This program is distributed in the hope that it will be useful,
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# but WITHOUT ANY WARRANTY; without even the implied warranty of
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# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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# GNU General Public License for more details.
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#
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# You should have received a copy of the GNU General Public License
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# along with this program. If not, see <https://www.gnu.org/licenses/>.
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"""
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Bring up ArduPilot SITL and check the Joy message is being published.
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Arms the copter and commands a throttle up. Check that the vehicle climbs.
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colcon test --packages-select ardupilot_dds_tests \
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--event-handlers=console_cohesion+ --pytest-args -k test_joy_msg_received
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"""
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import rclpy
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import time
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import launch_pytest
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from rclpy.node import Node
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from builtin_interfaces.msg import Time
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from geographic_msgs.msg import GeoPoseStamped
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from geometry_msgs.msg import TwistStamped
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from geopy import point
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from ardupilot_msgs.srv import ArmMotors
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from ardupilot_msgs.srv import ModeSwitch
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from sensor_msgs.msg import Joy
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from scipy.spatial.transform import Rotation as R
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import pytest
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from launch_pytest.tools import process as process_tools
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from launch import LaunchDescription
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import threading
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GUIDED = 4
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LOITER = 5
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FRAME_GLOBAL_INT = 5
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# Hard code some known locations
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# Note - Altitude in geopy is in km!
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GRAYHOUND_TRACK = point.Point(latitude=-35.345996, longitude=149.159017, altitude=0.575)
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CMAC = point.Point(latitude=-35.3627010, longitude=149.1651513, altitude=0.585)
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class PlaneFbwbJoyControl(Node):
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"""Plane follow waypoints using guided control."""
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def __init__(self):
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"""Initialise the node."""
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super().__init__("copter_joy_listener")
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self.arming_event_object = threading.Event()
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self.mode_event_object = threading.Event()
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self.climbing_event_object = threading.Event()
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self._client_arm = self.create_client(ArmMotors, "/ap/arm_motors")
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self._client_mode_switch = self.create_client(ModeSwitch, "/ap/mode_switch")
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self._joy_pub = self.create_publisher(Joy, "/ap/joy", 1)
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# Create subscriptions after services are up
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qos = rclpy.qos.QoSProfile(
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reliability=rclpy.qos.ReliabilityPolicy.BEST_EFFORT, durability=rclpy.qos.DurabilityPolicy.VOLATILE, depth=1
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)
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self._subscription_geopose = self.create_subscription(GeoPoseStamped, "/ap/geopose/filtered", self.geopose_cb, qos)
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self._cur_geopose = GeoPoseStamped()
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self._subscription_twist = self.create_subscription(TwistStamped, "/ap/twist/filtered", self.twist_cb, qos)
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self._climb_rate = 0.0
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# Add a spin thread.
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self.ros_spin_thread = threading.Thread(target=lambda node: rclpy.spin(node), args=(self,))
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self.ros_spin_thread.start()
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def geopose_cb(self, msg: GeoPoseStamped):
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"""Process a GeoPose message."""
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stamp = msg.header.stamp
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if stamp.sec:
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# Store current state
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self._cur_geopose = msg
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def twist_cb(self, msg: TwistStamped):
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"""Process a Twist message."""
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linear = msg.twist.linear
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self._climb_rate = linear.z
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def arm(self):
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req = ArmMotors.Request()
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req.arm = True
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future = self._client_arm.call_async(req)
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time.sleep(0.2)
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try:
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return future.result().result
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except:
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return False
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def arm_with_timeout(self, timeout: rclpy.duration.Duration):
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"""Try to arm. Returns true on success, or false if arming fails or times out."""
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armed = False
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start = self.get_clock().now()
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while not armed and self.get_clock().now() - start < timeout:
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armed = self.arm()
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time.sleep(1)
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return armed
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def switch_mode(self, mode):
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req = ModeSwitch.Request()
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req.mode = mode
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future = self._client_mode_switch.call_async(req)
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time.sleep(1)
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try:
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return future.result().status and future.result().curr_mode == mode
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except:
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return False
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def switch_mode_with_timeout(self, desired_mode: int, timeout: rclpy.duration.Duration):
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"""Try to switch mode. Returns true on success, or false if mode switch fails or times out."""
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is_in_desired_mode = False
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start = self.get_clock().now()
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while not is_in_desired_mode:
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is_in_desired_mode = self.switch_mode(desired_mode)
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time.sleep(1)
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return is_in_desired_mode
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def get_cur_geopose(self):
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"""Return latest geopose."""
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return self._cur_geopose
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def send_joy_value(self, joy_val):
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self._joy_pub.publish(joy_val)
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#-------------- PROCESSES -----------------
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def process_arm(self):
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if self.arm_with_timeout(rclpy.duration.Duration(seconds=30)):
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self.arming_event_object.set()
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def start_arm(self):
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self.arm_thread = threading.Thread(target=self.process_arm)
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self.arm_thread.start()
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def process_climb(self):
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joy_msg = Joy()
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joy_msg.axes.append(0.0)
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joy_msg.axes.append(0.0)
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joy_msg.axes.append(0.8) #- straight up
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joy_msg.axes.append(0.0)
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while True:
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self.send_joy_value(joy_msg)
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self.arm() #- Keep the system armed (sometimes it disarms and the test fails)
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time.sleep(0.1)
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self.get_logger().info("From AP : Climb rate {}".format(self._climb_rate))
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if self._climb_rate > 0.5:
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self.climbing_event_object.set()
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return
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def climb(self):
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self.climb_thread = threading.Thread(target=self.process_climb)
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self.climb_thread.start()
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def arm_and_takeoff_process(self):
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self.process_arm()
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self.climb()
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def arm_and_takeoff(self):
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self.climb_thread = threading.Thread(target=self.arm_and_takeoff_process)
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self.climb_thread.start()
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@launch_pytest.fixture
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def launch_sitl_copter_dds_serial(sitl_copter_dds_serial):
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"""Fixture to create the launch description."""
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sitl_ld, sitl_actions = sitl_copter_dds_serial
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ld = LaunchDescription(
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[
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sitl_ld,
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launch_pytest.actions.ReadyToTest(),
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]
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)
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actions = sitl_actions
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yield ld, actions
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@launch_pytest.fixture
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def launch_sitl_copter_dds_udp(sitl_copter_dds_udp):
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"""Fixture to create the launch description."""
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sitl_ld, sitl_actions = sitl_copter_dds_udp
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ld = LaunchDescription(
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[
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sitl_ld,
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launch_pytest.actions.ReadyToTest(),
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]
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)
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actions = sitl_actions
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yield ld, actions
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@pytest.mark.launch(fixture=launch_sitl_copter_dds_udp)
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def test_dds_udp_joy_msg_recv(launch_context, launch_sitl_copter_dds_udp):
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"""Test joy messages are published by AP_DDS."""
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_, actions = launch_sitl_copter_dds_udp
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micro_ros_agent = actions["micro_ros_agent"].action
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mavproxy = actions["mavproxy"].action
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sitl = actions["sitl"].action
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# Wait for process to start.
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process_tools.wait_for_start_sync(launch_context, micro_ros_agent, timeout=2)
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process_tools.wait_for_start_sync(launch_context, mavproxy, timeout=2)
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process_tools.wait_for_start_sync(launch_context, sitl, timeout=2)
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rclpy.init()
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try:
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node = PlaneFbwbJoyControl()
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node.arm_and_takeoff()
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climb_flag = node.climbing_event_object.wait(10)
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assert climb_flag, "Could not climb"
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finally:
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rclpy.shutdown()
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yield
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@ -5,6 +5,7 @@
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#include <AP_GPS/AP_GPS.h>
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#include <AP_HAL/AP_HAL.h>
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#include <RC_Channel/RC_Channel.h>
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#include <AP_RTC/AP_RTC.h>
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#include <AP_Math/AP_Math.h>
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#include <AP_InertialSensor/AP_InertialSensor.h>
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@ -573,11 +574,23 @@ void AP_DDS_Client::on_topic(uxrSession* uxr_session, uxrObjectId object_id, uin
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}
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if (rx_joy_topic.axes_size >= 4) {
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GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s Received sensor_msgs/Joy: %f, %f, %f, %f",
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msg_prefix, rx_joy_topic.axes[0], rx_joy_topic.axes[1], rx_joy_topic.axes[2], rx_joy_topic.axes[3]);
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// TODO implement joystick RC control to AP
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} else {
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GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s Received sensor_msgs/Joy. Axes size must be >= 4", msg_prefix);
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const uint32_t t_now = AP_HAL::millis();
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for (uint8_t i = 0; i < MIN(8U, rx_joy_topic.axes_size); i++) {
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// Ignore channel override if NaN.
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if (std::isnan(rx_joy_topic.axes[i])) {
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// Setting the RC override to 0U releases the channel back to the RC.
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RC_Channels::set_override(i, 0U, t_now);
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} else {
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const uint16_t mapped_data = static_cast<uint16_t>(
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linear_interpolate(rc().channel(i)->get_radio_min(),
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rc().channel(i)->get_radio_max(),
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rx_joy_topic.axes[i],
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-1.0, 1.0));
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RC_Channels::set_override(i, mapped_data, t_now);
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}
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}
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}
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break;
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}
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@ -76,6 +76,7 @@ Run the simulator with the following command. If using UDP, the only parameter y
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| DDS_ENABLE | Set to 1 to enable DDS, or 0 to disable | 1 |
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| SERIAL1_BAUD | The serial baud rate for DDS | 57 |
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| SERIAL1_PROTOCOL | Set this to 45 to use DDS on the serial port | 0 |
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```console
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# Wipe params till you see "AP: ArduPilot Ready"
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# Select your favorite vehicle type
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@ -220,7 +221,7 @@ In order to consume the transforms, it's highly recommended to [create and run a
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## Using ROS 2 services
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The `AP_DDS` library exposes services which are automatically mapped to ROS 2
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The `AP_DDS` library exposes services which are automatically mapped to ROS 2
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services using appropriate naming conventions for topics and message and service
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types. An earlier version of `AP_DDS` required the use of the eProsima
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[Integration Service](https://github.com/eProsima/Integration-Service) to map
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@ -253,7 +254,32 @@ requester: making request: ardupilot_msgs.srv.ModeSwitch_Request(mode=4)
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response:
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ardupilot_msgs.srv.ModeSwitch_Response(status=True, curr_mode=4)
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```
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## Commanding using ROS 2 Topics
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The following topic can be used to control the vehicle.
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- `/ap/joy` (type `sensor_msgs/msg/Joy`): overrides a maximum of 8 RC channels,
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at least 4 axes must be sent. Values are clamped between -1.0 and 1.0.
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Use `NaN` to disable the override of a single channel.
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A channel defaults back to RC after 1 second of not receiving commands.
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```bash
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ros2 topic pub /ap/joy sensor_msgs/msg/Joy "{axes: [0.0, 0.0, 0.0, 0.0]}"
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publisher: beginning loop
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publishing #1: sensor_msgs.msg.Joy(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=0, nanosec=0), frame_id=''), axes=[0.0, 0.0, 0.0, 0.0], buttons=[])
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```
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- `/ap/cmd_gps_pose` (type `ardupilot_msgs/msg/GlobalPosition`): sends
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a waypoint to head to when the selected mode is GUIDED.
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```bash
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ros2 topic pub /ap/cmd_gps_pose ardupilot_msgs/msg/GlobalPosition "{latitude: 34, longitude: 118, altitude: 1000}"
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publisher: beginning loop
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publishing #1: ardupilot_msgs.msg.GlobalPosition(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=0, nanosec=0), frame_id=''), coordinate_frame=0, type_mask=0, latitude=34.0, longitude=118.0, altitude=1000.0, velocity=geometry_msgs.msg.Twist(linear=geometry_msgs.msg.Vector3(x=0.0, y=0.0, z=0.0), angular=geometry_msgs.msg.Vector3(x=0.0, y=0.0, z=0.0)), acceleration_or_force=geometry_msgs.msg.Twist(linear=geometry_msgs.msg.Vector3(x=0.0, y=0.0, z=0.0), angular=geometry_msgs.msg.Vector3(x=0.0, y=0.0, z=0.0)), yaw=0.0)
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```
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## Contributing to `AP_DDS` library
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### Adding DDS messages to Ardupilot
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@ -296,7 +322,7 @@ topic and service tables.
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ROS 2 message and interface definitions are mangled by the `rosidl_adapter` when
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mapping from ROS 2 to DDS to avoid naming conflicts in the C/C++ libraries.
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The ROS 2 object `namespace::Struct` is mangled to `namespace::dds_::Struct_`
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for DDS. The table below provides some example mappings:
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for DDS. The table below provides some example mappings:
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| ROS 2 | DDS |
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| --- | --- |
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@ -322,7 +348,7 @@ The request / response pair for services require an additional suffix.
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| parameter | rp/ | |
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| action | ra/ | |
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The table below provides example mappings for topics and services
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The table below provides example mappings for topics and services
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| ROS 2 | DDS |
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| --- | --- |
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