forked from Archive/PX4-Autopilot
- updated position control test
- added flight path assertion helper
This commit is contained in:
Andreas Antener
Thomas Gubler
parent
e0e7f8c517
commit
75f1678047
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#!/usr/bin/env python
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import sys
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import rospy
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import threading
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from px4.msg import vehicle_local_position
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from gazebo_msgs.srv import SpawnModel
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from gazebo_msgs.srv import SetModelState
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from geometry_msgs.msg import Pose
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from geometry_msgs.msg import Twist
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from numpy import linalg
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import numpy as np
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import math
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#
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# Helper to test if vehicle stays in expected flight path.
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#
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class FlightPathAssertion(threading.Thread):
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def __init__(self, positions, tunnelRadius = 1, yawOffset = 0.2):
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threading.Thread.__init__(self)
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rospy.Subscriber("px4_multicopter/vehicle_local_position", vehicle_local_position, self.position_callback)
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self.spawn = rospy.ServiceProxy('gazebo/spawn_sdf_model', SpawnModel)
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self.setModelState = rospy.ServiceProxy('gazebo/set_model_state', SetModelState)
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self.positions = positions
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self.tunnelRadius = tunnelRadius
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self.yawOffset = yawOffset
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self.hasPos = False
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self.shouldStop = False
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self.center = positions[0]
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self.endOfSegment = False
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def position_callback(self, data):
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self.hasPos = True
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self.localPosition = data
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def spawn_indicator(self):
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xml = "<?xml version='1.0'?><sdf version='1.4'><model name='indicator'><static>true</static><link name='link'><visual name='visual'><transparency>0.7</transparency><geometry><sphere><radius>%f</radius></sphere></geometry><material><ambient>1 0 0 0.5</ambient><diffuse>1 0 0 0.5</diffuse></material></visual></link></model></sdf>" % self.tunnelRadius
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self.spawn("indicator", xml, "", Pose(), "")
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def position_indicator(self):
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state = SetModelState()
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state.model_name = "indicator"
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pose = Pose()
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pose.position.x = self.center[0]
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pose.position.y = (-1) * self.center[1]
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pose.position.z = (-1) * self.center[2]
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state.pose = pose
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state.twist = Twist()
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state.reference_frame = ""
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self.setModelState(state)
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def distance_to_line(self, a, b, pos):
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v = b - a
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w = pos - a
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c1 = np.dot(w, v)
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if c1 <= 0: # before a
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self.center = a
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return linalg.norm(pos - a)
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c2 = np.dot(v, v)
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if c2 <= c1: # after b
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self.center = b
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self.endOfSegment = True
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return linalg.norm(pos - b)
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x = c1 / c2
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l = a + x * v
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self.center = l
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return linalg.norm(pos - l)
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def stop(self):
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self.shouldStop = True
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def run(self):
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rate = rospy.Rate(10) # 10hz
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self.spawn_indicator()
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current = 0
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while not self.shouldStop:
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if (self.hasPos):
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# calculate distance to line segment between first two points
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# if distances > tunnelRadius
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# exit with error
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# advance current pos if not on the line anymore or distance to next point < tunnelRadius
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# exit if current pos is now the last position
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self.position_indicator()
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pos = np.array((self.localPosition.x,
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self.localPosition.y,
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self.localPosition.z))
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aPos = np.array((self.positions[current][0],
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self.positions[current][1],
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self.positions[current][2]))
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bPos = np.array((self.positions[current + 1][0],
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self.positions[current + 1][1],
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self.positions[current + 1][2]))
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dist = self.distance_to_line(aPos, bPos, pos)
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bDist = linalg.norm(pos - bPos)
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rospy.loginfo("distance to line: %f, distance to end: %f" % (dist, bDist))
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if (dist > self.tunnelRadius):
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rospy.logerr("left tunnel at position (%f, %f, %f)" % (self.localPosition.x, self.localPosition.y, self.localPosition.z))
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# FIXME: assertion
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break
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if (self.endOfSegment or bDist < self.tunnelRadius):
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rospy.loginfo("next segment")
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self.endOfSegment = False
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current = current + 1
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if (current == len(self.positions) - 1):
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rospy.loginfo("no more positions")
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break
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rate.sleep()
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@ -5,6 +5,9 @@ import sys
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import unittest
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import rospy
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from numpy import linalg
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import numpy as np
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from px4.msg import vehicle_local_position
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from px4.msg import vehicle_control_mode
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from px4.msg import actuator_armed
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@ -14,10 +17,18 @@ from sensor_msgs.msg import Joy
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from std_msgs.msg import Header
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from manual_input import ManualInput
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from flight_path_assertion import FlightPathAssertion
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class OffboardPosctlTest(unittest.TestCase):
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def setUp(self):
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rospy.init_node('test_node', anonymous=True)
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rospy.Subscriber('px4_multicopter/vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback)
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rospy.Subscriber("px4_multicopter/vehicle_local_position", vehicle_local_position, self.position_callback)
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self.pubSpt = rospy.Publisher('px4_multicopter/position_setpoint_triplet', position_setpoint_triplet, queue_size=10)
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self.rate = rospy.Rate(10) # 10hz
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#
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# General callback functions used in tests
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#
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@ -33,19 +44,37 @@ class OffboardPosctlTest(unittest.TestCase):
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# Helper methods
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#
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def is_at_position(self, x, y, z, offset):
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rospy.loginfo("current position %f, %f, %f" % (self.localPosition.x, self.localPosition.y, self.localPosition.z))
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return self.localPosition.z > (z - offset) and self.localPosition.z < (z + offset)
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rospy.logdebug("current position %f, %f, %f" % (self.localPosition.x, self.localPosition.y, self.localPosition.z))
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desired = np.array((x, y, z))
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pos = np.array((self.localPosition.x, self.localPosition.y, self.localPosition.z))
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return linalg.norm(desired - pos) < offset
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def reach_position(self, x, y, z, timeout):
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# set a position setpoint
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pos = position_setpoint()
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pos.valid = True
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pos.x = x
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pos.y = y
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pos.z = z
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pos.position_valid = True
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stp = position_setpoint_triplet()
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stp.current = pos
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self.pubSpt.publish(stp)
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# does it reach the position in X seconds?
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count = 0
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while(count < timeout):
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if(self.is_at_position(pos.x, pos.y, pos.z, 0.5)):
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break
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count = count + 1
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self.rate.sleep()
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self.assertTrue(count < timeout, "took too long to get to position")
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#
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# Test offboard POSCTL
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#
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def test_posctl(self):
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rospy.init_node('test_node', anonymous=True)
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rospy.Subscriber('px4_multicopter/vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback)
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rospy.Subscriber("px4_multicopter/vehicle_local_position", vehicle_local_position, self.position_callback)
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pubSpt = rospy.Publisher('px4_multicopter/position_setpoint_triplet', position_setpoint_triplet, queue_size=10)
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rate = rospy.Rate(10) # 10hz
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manIn = ManualInput()
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# arm and go into offboard
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@ -55,42 +84,38 @@ class OffboardPosctlTest(unittest.TestCase):
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self.assertTrue(self.controlMode.flag_control_offboard_enabled, "flag_control_offboard_enabled is not set")
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self.assertTrue(self.controlMode.flag_control_position_enabled, "flag_control_position_enabled is not set")
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# set a position setpoint
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pos = position_setpoint()
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pos.valid = True
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pos.x = 2
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pos.z = -2
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pos.y = 2
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pos.position_valid = True
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stp = position_setpoint_triplet()
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stp.current = pos
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pubSpt.publish(stp)
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# prepare flight path assertion
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fpa = FlightPathAssertion(
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(
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(0,0,0),
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(2,2,-2),
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(2,-2,-2),
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(-2,-2,-2),
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(2,2,-2),
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), 0.5, 0)
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fpa.start()
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# does it reach the position in X seconds?
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count = 0
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timeout = 120
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while(count < timeout):
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if(self.is_at_position(pos.x, pos.y, pos.z, 0.5)):
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break
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count = count + 1
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rate.sleep()
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self.assertTrue(count < timeout, "took too long to get to position")
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self.reach_position(2, 2, -2, 120)
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self.reach_position(2, -2, -2, 120)
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self.reach_position(-2, -2, -2, 120)
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self.reach_position(2, 2, -2, 120)
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# does it hold the position for Y seconds?
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positionHeld = True
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count = 0
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timeout = 50
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while(count < timeout):
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if(not self.is_at_position(pos.x, pos.y, pos.z, 0.5)):
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if(not self.is_at_position(2, 2, -2, 0.5)):
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positionHeld = False
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break
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count = count + 1
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rate.sleep()
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self.rate.sleep()
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self.assertTrue(count == timeout, "position could not be held")
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fpa.stop()
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if __name__ == '__main__':
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import rostest
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rostest.rosrun(PKG, 'posctl_test', OffboardPosctlTest)
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#unittest.main()
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