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Added Roll Pitch Yawrate Thrust offboard test. Testing...

This commit is contained in:
Pedro Roque 2020-04-24 15:28:55 +02:00 committed by Daniel Agar
parent 76cfd8fa39
commit 3ea52fecd3
7 changed files with 229 additions and 2 deletions
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6
.ci/Jenkinsfile-SITL_tests
View File

@ -60,6 +60,12 @@ pipeline {
mission: "",
vehicle: "iris"
],
[
name: "MC_offboard_rpyrt",
test: "mavros_posix_tests_offboard_rpyrt_ctl.test",
mission: "",
vehicle: "iris"
],
[
name: "Rover 1",

6
.ci/Jenkinsfile-SITL_tests_ASan
View File

@ -60,6 +60,12 @@ pipeline {
mission: "",
vehicle: "iris"
],
[
name: "MC_offboard_rpyrt",
test: "mavros_posix_tests_offboard_rpyrt_ctl.test",
mission: "",
vehicle: "iris"
],
[
name: "Rover 1",

6
.ci/Jenkinsfile-SITL_tests_coverage
View File

@ -34,6 +34,12 @@ pipeline {
mission: "",
vehicle: "iris"
],
[
name: "MC_offboard_rpyrt",
test: "mavros_posix_tests_offboard_rpyrt_ctl.test",
mission: "",
vehicle: "iris"
],
[
name: "Rover 1",

1
Makefile
View File

@ -379,6 +379,7 @@ tests_mission_coverage:
tests_offboard: rostest
@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_offboard_attctl.test
@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test
@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_offboard_rpyrt_ctl.test
tests_avoidance: rostest
@"$(SRC_DIR)"/test/rostest_avoidance_run.sh mavros_posix_test_avoidance.test

177
integrationtests/python_src/px4_it/mavros/mavros_offboard_yawrate_test.py Executable file
View File

@ -0,0 +1,177 @@
#!/usr/bin/env python2
#***************************************************************************
#
# Copyright (c) 2020 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
#***************************************************************************/
#
# @author Pedro Roque <padr@kth.se>
#
from __future__ import division
PKG = 'px4'
import rospy
from geometry_msgs.msg import Quaternion, Vector3
from mavros_msgs.msg import AttitudeTarget
from mavros_test_common import MavrosTestCommon
from pymavlink import mavutil
from six.moves import xrange
from std_msgs.msg import Header
from threading import Thread
from tf.transformations import quaternion_from_euler
class MavrosOffboardYawrateTest(MavrosTestCommon):
"""
Tests flying in offboard control by sending a Roll Pitch Yawrate Thrust (RPYrT)
as attitude setpoint.
For the test to be successful it needs to achieve a desired yawrate and height.
"""
def setUp(self):
super(MavrosOffboardYawrateTest, self).setUp()
self.att = AttitudeTarget()
self.att_setpoint_pub = rospy.Publisher(
'mavros/setpoint_raw/attitude', AttitudeTarget, queue_size=1)
# send setpoints in seperate thread to better prevent failsafe
self.att_thread = Thread(target=self.send_att, args=())
self.att_thread.daemon = True
self.att_thread.start()
# desired yawrate target
self.des_yawrate = 0.1
self.yawrate_tol = 0.02
def tearDown(self):
super(MavrosOffboardYawrateTest, self).tearDown()
#
# Helper methods
#
def send_att(self):
rate = rospy.Rate(10) # Hz
self.att.body_rate = Vector3()
self.att.header = Header()
self.att.header.frame_id = "base_footprint"
self.att.orientation = self.local_position.pose.orientation
self.att.body_rate.x = 0
self.att.body_rate.y = 0
self.att.body_rate.z = self.des_yawrate
self.att.thrust = 0.59
self.att.type_mask = 3 # ignore roll and pitch rate
while not rospy.is_shutdown():
self.att.header.stamp = rospy.Time.now()
self.att_setpoint_pub.publish(self.att)
try: # prevent garbage in console output when thread is killed
rate.sleep()
except rospy.ROSInterruptException:
pass
#
# Test method
#
def test_attctl(self):
"""Test offboard yawrate control"""
# boundary to cross
# Stay leveled, go up, and test yawrate
boundary_x = 5
boundary_y = 5
boundary_z = 10
# make sure the simulation is ready to start the mission
self.wait_for_topics(60)
self.wait_for_landed_state(mavutil.mavlink.MAV_LANDED_STATE_ON_GROUND,
10, -1)
self.log_topic_vars()
self.set_arm(True, 5)
self.set_mode("OFFBOARD", 5)
rospy.loginfo("run mission")
rospy.loginfo("attempting to cross boundary | z: {2} , stay within x: {0} y: {1} \n and achieve {3} yawrate".
format(boundary_x, boundary_y, boundary_z, self.des_yawrate))
# does it cross expected boundaries in 'timeout' seconds?
timeout = 90 # (int) seconds
loop_freq = 2 # Hz
rate = rospy.Rate(loop_freq)
crossed = False
for i in xrange(timeout * loop_freq):
if (self.local_position.pose.position.x < boundary_x and
self.local_position.pose.position.x > -boundary_x and
self.local_position.pose.position.y < boundary_y and
self.local_position.pose.position.y > -boundary_y and
self.local_position.pose.position.z > boundary_z and
abs(self.imu_data.angular_velocity.z - self.des_yawrate) < self.yawrate_tol):
rospy.loginfo("Test successful. Final altitude and yawrate achieved")
crossed = True
break
try:
rate.sleep()
except rospy.ROSException as e:
self.fail(e)
self.assertTrue(crossed, (
"took too long to finish test | current position x: {0:.2f}, y: {1:.2f}, z: {2:.2f} \n " \
" | current att qx: {3:.2f}, qy: {4:.2f}, qz: {5:.2f} qw: {6:.2f}, yr: {7:.2f}| timeout(seconds): {8}".
format(self.local_position.pose.position.x,
self.local_position.pose.position.y,
self.local_position.pose.position.z,
self.imu_data.orientation.x,
self.imu_data.orientation.y,
self.imu_data.orientation.z,
self.imu_data.orientation.w,
self.imu_data.angular_velocity.z,
timeout)))
self.set_mode("AUTO.LAND", 5)
self.wait_for_landed_state(mavutil.mavlink.MAV_LANDED_STATE_ON_GROUND,
90, 0)
self.set_arm(False, 5)
if __name__ == '__main__':
import rostest
rospy.init_node('test_node', anonymous=True)
rostest.rosrun(PKG, 'mavros_offboard_yawrate_test',
MavrosOffboardYawrateTest)

14
integrationtests/python_src/px4_it/mavros/mavros_test_common.py
View File

@ -10,7 +10,7 @@ from mavros_msgs.msg import Altitude, ExtendedState, HomePosition, State, \
from mavros_msgs.srv import CommandBool, ParamGet, SetMode, WaypointClear, \
WaypointPush
from pymavlink import mavutil
from sensor_msgs.msg import NavSatFix
from sensor_msgs.msg import NavSatFix, Imu
from six.moves import xrange
@ -22,6 +22,7 @@ class MavrosTestCommon(unittest.TestCase):
self.altitude = Altitude()
self.extended_state = ExtendedState()
self.global_position = NavSatFix()
self.imu_data = Imu()
self.home_position = HomePosition()
self.local_position = PoseStamped()
self.mission_wp = WaypointList()
@ -32,7 +33,7 @@ class MavrosTestCommon(unittest.TestCase):
key: False
for key in [
'alt', 'ext_state', 'global_pos', 'home_pos', 'local_pos',
'mission_wp', 'state'
'mission_wp', 'state', 'imu'
]
}
@ -66,6 +67,9 @@ class MavrosTestCommon(unittest.TestCase):
self.global_pos_sub = rospy.Subscriber('mavros/global_position/global',
NavSatFix,
self.global_position_callback)
self.imu_data_sub = rospy.Subscriber('mavros/imu/data',
Imu,
self.imu_data_callback)
self.home_pos_sub = rospy.Subscriber('mavros/home_position/home',
HomePosition,
self.home_position_callback)
@ -114,6 +118,12 @@ class MavrosTestCommon(unittest.TestCase):
if not self.sub_topics_ready['global_pos']:
self.sub_topics_ready['global_pos'] = True
def imu_data_callback(self, data):
self.imu_data = data
if not self.sub_topics_ready['imu']:
self.sub_topics_ready['imu'] = True
def home_position_callback(self, data):
self.home_position = data

21
test/mavros_posix_tests_offboard_rpyrt_ctl.test Normal file
View File

@ -0,0 +1,21 @@
<?xml version="1.0"?>
<launch>
<!-- Posix SITL MAVROS integration tests -->
<!-- Test offboard attitude control -->
<arg name="est" default="ekf2"/>
<arg name="gui" default="false"/>
<arg name="interactive" default="false"/>
<arg name="vehicle" default="iris"/>
<!-- MAVROS, PX4 SITL, Gazebo -->
<include file="$(find px4)/launch/mavros_posix_sitl.launch">
<arg name="est" value="$(arg est)"/>
<arg name="gui" value="$(arg gui)"/>
<arg name="interactive" value="$(arg interactive)"/>
<arg name="respawn_gazebo" value="true"/>
<arg name="respawn_mavros" value="true"/>
<arg name="vehicle" value="$(arg vehicle)"/>
<arg name="verbose" value="true"/>
</include>
<!-- ROStest -->
<test test-name="mavros_offboard_yawrate_test" pkg="px4" type="mavros_offboard_yawrate_test.py" time-limit="300.0"/>
</launch>