Merge pull request #1854 from UAVenture/mavros_arming

Mavros test updates

integrationtests/demo_tests/direct_manual_input_test.py

@@ -42,9 +42,13 @@ import unittest
 import rospy
 
 from px4.msg import actuator_armed
+from px4.msg import vehicle_control_mode
 from manual_input import ManualInput
 
-class ArmTest(unittest.TestCase):
+#
+# Tests if commander reacts to manual input and sets control flags accordingly
+#
+class ManualInputTest(unittest.TestCase):
 
     #
     # General callback functions used in tests
@@ -52,22 +56,32 @@ class ArmTest(unittest.TestCase):
     def actuator_armed_callback(self, data):
         self.actuatorStatus = data
 
+    def vehicle_control_mode_callback(self, data):
+        self.controlMode = data
+    
     #
     # Test arming
     #
-    def test_arm(self):
+    def test_manual_input(self):
         rospy.init_node('test_node', anonymous=True)
-        sub = rospy.Subscriber('px4_multicopter/actuator_armed', actuator_armed, self.actuator_armed_callback)
+        rospy.Subscriber('px4_multicopter/actuator_armed', actuator_armed, self.actuator_armed_callback)
+        rospy.Subscriber('px4_multicopter/vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback)
 
-        # method to test
+        man = ManualInput()
-        arm = ManualInput()
-        arm.arm()
 
-        self.assertEquals(self.actuatorStatus.armed, True, "not armed")
+        # Test arming
+        man.arm()
+        self.assertEquals(self.actuatorStatus.armed, True, "did not arm")
 
+        # Test posctl
+        man.posctl()
+        self.assertTrue(self.controlMode.flag_control_position_enabled, "flag_control_position_enabled is not set")
 
+        # Test offboard
+        man.offboard()
+        self.assertTrue(self.controlMode.flag_control_offboard_enabled, "flag_control_offboard_enabled is not set")
     
 
 if __name__ == '__main__':
     import rostest
-    rostest.rosrun(PKG, 'arm_test', ArmTest)
+    rostest.rosrun(PKG, 'direct_manual_input_test', ManualInputTest)

integrationtests/demo_tests/direct_offboard_posctl_test.py

@@ -55,8 +55,14 @@ from std_msgs.msg import Header
 from manual_input import ManualInput
 from flight_path_assertion import FlightPathAssertion
 
-
+#
-class OffboardPosctlTest(unittest.TestCase):
+# Tests flying a path in offboard control by directly sending setpoints
+# to the position controller (position_setpoint_triplet).
+#
+# For the test to be successful it needs to stay on the predefined path
+# and reach all setpoints in a certain time.
+#
+class DirectOffboardPosctlTest(unittest.TestCase):
 
     def setUp(self):
         rospy.init_node('test_node', anonymous=True)
@@ -112,7 +118,7 @@ class OffboardPosctlTest(unittest.TestCase):
         self.assertTrue(count < timeout, "took too long to get to position")
 
     #
-    # Test offboard POSCTL
+    # Test offboard position control
     #
     def test_posctl(self):
         manIn = ManualInput()
@@ -124,7 +130,7 @@ class OffboardPosctlTest(unittest.TestCase):
         self.assertTrue(self.controlMode.flag_control_offboard_enabled, "flag_control_offboard_enabled is not set")
         self.assertTrue(self.controlMode.flag_control_position_enabled, "flag_control_position_enabled is not set")
 
-        # prepare flight path assertion
+        # prepare flight path
         positions = (
             (0,0,0),
             (2,2,-2),
@@ -132,6 +138,7 @@ class OffboardPosctlTest(unittest.TestCase):
             (-2,-2,-2),
             (2,2,-2))
 
+        # flight path assertion
         self.fpa = FlightPathAssertion(positions, 1, 0)
         self.fpa.start()
 
@@ -156,5 +163,5 @@ class OffboardPosctlTest(unittest.TestCase):
 
 if __name__ == '__main__':
     import rostest
-    rostest.rosrun(PKG, 'posctl_test', OffboardPosctlTest)
+    rostest.rosrun(PKG, 'direct_offboard_posctl_test', DirectOffboardPosctlTest)
     #unittest.main()

integrationtests/demo_tests/direct_tests.launch

@@ -13,6 +13,6 @@
         <arg name="log_file" value="$(arg log_file)"/>
     </include>
 
-    <test test-name="direct_arm" pkg="px4" type="direct_arm_test.py" />
+    <test test-name="direct_manual_input_test" pkg="px4" type="direct_manual_input_test.py" />
-    <test test-name="direct_offboard_posctl" pkg="px4" type="direct_offboard_posctl_test.py" />
+    <test test-name="direct_offboard_posctl_test" pkg="px4" type="direct_offboard_posctl_test.py" />
 </launch>

integrationtests/demo_tests/flight_path_assertion.py

@@ -51,7 +51,7 @@ import numpy as np
 import math
 
 #
-# Helper to test if vehicle stays in expected flight path.
+# Helper to test if vehicle stays on expected flight path.
 #
 class FlightPathAssertion(threading.Thread):
 

integrationtests/demo_tests/manual_input.py

@@ -45,7 +45,7 @@ from std_msgs.msg import Header
 #
 # Manual input control helper
 #
-# Note: this is not the way to do it. ATM it fakes input to iris/command/attitude because else
+# FIXME: this is not the way to do it! ATM it fakes input to iris/command/attitude because else
 # the simulator does not instantiate our controller.
 #
 class ManualInput:
@@ -74,7 +74,7 @@ class ManualInput:
         pos.offboard_switch = 3
 
         count = 0
-        while not rospy.is_shutdown() and count < 10:
+        while not rospy.is_shutdown() and count < 5:
             rospy.loginfo("zeroing")
             time = rospy.get_rostime().now()
             pos.timestamp = time.secs * 1e6 + time.nsecs / 1000
@@ -86,7 +86,7 @@ class ManualInput:
 
         pos.r = 1
         count = 0
-        while not rospy.is_shutdown() and count < 10:
+        while not rospy.is_shutdown() and count < 5:
             rospy.loginfo("arming")
             time = rospy.get_rostime().now()
             pos.timestamp = time.secs * 1e6 + time.nsecs / 1000
@@ -111,7 +111,7 @@ class ManualInput:
         pos.offboard_switch = 3
 
         count = 0
-        while not rospy.is_shutdown() and count < 10:
+        while not rospy.is_shutdown() and count < 5:
             rospy.loginfo("triggering posctl")
             time = rospy.get_rostime().now()
             pos.timestamp = time.secs * 1e6 + time.nsecs / 1000
@@ -122,7 +122,7 @@ class ManualInput:
     def offboard(self):
         rate = rospy.Rate(10) # 10hz
 
-        # triggers posctl
+        # triggers offboard
         pos = manual_control_setpoint()
         pos.x = 0
         pos.z = 0
@@ -136,8 +136,8 @@ class ManualInput:
         pos.offboard_switch = 1
 
         count = 0
-        while not rospy.is_shutdown() and count < 10:
+        while not rospy.is_shutdown() and count < 5:
-            rospy.loginfo("triggering posctl")
+            rospy.loginfo("triggering offboard")
             time = rospy.get_rostime().now()
             pos.timestamp = time.secs * 1e6 + time.nsecs / 1000
             self.pubMcsp.publish(pos)

integrationtests/demo_tests/mavros_offboard_attctl_test.py

@@ -0,0 +1,142 @@
+#!/usr/bin/env python
+#***************************************************************************
+#
+#   Copyright (c) 2015 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 Andreas Antener <andreas@uaventure.com>
+#
+PKG = 'px4'
+
+import sys
+import unittest
+import rospy
+import math
+
+from numpy import linalg
+import numpy as np
+
+from px4.msg import vehicle_control_mode
+from std_msgs.msg import Header
+from std_msgs.msg import Float64
+from geometry_msgs.msg import PoseStamped, Quaternion
+from tf.transformations import quaternion_from_euler
+from mavros.srv import CommandBool
+
+from manual_input import ManualInput
+
+#
+# Tests flying a path in offboard control by sending position setpoints
+# over MAVROS.
+#
+# For the test to be successful it needs to reach all setpoints in a certain time.
+# FIXME: add flight path assertion (needs transformation from ROS frame to NED)
+#
+class MavrosOffboardAttctlTest(unittest.TestCase):
+
+    def setUp(self):
+        rospy.init_node('test_node', anonymous=True)
+        rospy.wait_for_service('mavros/cmd/arming', 30)
+        rospy.Subscriber('px4_multicopter/vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback)
+        rospy.Subscriber("mavros/position/local", PoseStamped, self.position_callback)
+        self.pubAtt = rospy.Publisher('mavros/setpoint/attitude', PoseStamped, queue_size=10)
+        self.pubThr = rospy.Publisher('mavros/setpoint/att_throttle', Float64, queue_size=10)
+        self.cmdArm = rospy.ServiceProxy("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
+    #
+    def position_callback(self, data):
+        self.hasPos = True
+        self.localPosition = data
+
+    def vehicle_control_mode_callback(self, data):
+        self.controlMode = data
+
+
+    #
+    # Helper methods
+    #
+    def arm(self):
+        return self.cmdArm(value=True)
+
+    #
+    # Test offboard position control
+    #
+    def test_attctl(self):
+        # FIXME: this must go ASAP when arming is implemented
+        manIn = ManualInput()
+        manIn.arm()
+
+        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")
+
+        # set some attitude and thrust
+        att = PoseStamped()
+        att.header = Header() 
+        att.header.frame_id = "base_footprint"
+        att.header.stamp = rospy.Time.now()
+        quaternion = quaternion_from_euler(0.2, 0.2, 0)
+        att.pose.orientation = Quaternion(*quaternion)
+
+        throttle = Float64()
+        throttle.data = 0.6
+
+        # does it cross expected boundaries in X seconds?
+        count = 0
+        timeout = 120
+        while(count < timeout):
+            # update timestamp for each published SP
+            att.header.stamp = rospy.Time.now()
+            self.pubAtt.publish(att)
+            self.pubThr.publish(throttle)
+            
+            if (self.localPosition.pose.position.x > 5
+                and self.localPosition.pose.position.z > 5
+                and self.localPosition.pose.position.y < -5):
+                break
+            count = count + 1
+            self.rate.sleep()
+
+        self.assertTrue(count < timeout, "took too long to cross boundaries")
+    
+
+if __name__ == '__main__':
+    import rostest
+    rostest.rosrun(PKG, 'mavros_offboard_attctl_test', MavrosOffboardAttctlTest)
+    #unittest.main()

integrationtests/demo_tests/mavros_offboard_posctl_test.py

@@ -49,16 +49,30 @@ from px4.msg import vehicle_control_mode
 from std_msgs.msg import Header
 from geometry_msgs.msg import PoseStamped, Quaternion
 from tf.transformations import quaternion_from_euler
+from mavros.srv import CommandBool
 
-class OffboardPosctlTest(unittest.TestCase):
+from manual_input import ManualInput
+
+#
+# Tests flying a path in offboard control by sending position setpoints
+# over MAVROS.
+#
+# For the test to be successful it needs to reach all setpoints in a certain time.
+# FIXME: add flight path assertion (needs transformation from ROS frame to NED)
+#
+class MavrosOffboardPosctlTest(unittest.TestCase):
 
     def setUp(self):
         rospy.init_node('test_node', anonymous=True)
+        rospy.wait_for_service('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)
+        rospy.Subscriber("mavros/position/local", PoseStamped, self.position_callback)
-        self.pubSpt = rospy.Publisher('px4_multicopter/mavros/setpoint/local_position', PoseStamped, queue_size=10)
+        self.pubSpt = rospy.Publisher('mavros/setpoint/local_position', PoseStamped, queue_size=10)
+        self.cmdArm = rospy.ServiceProxy("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
@@ -88,7 +102,6 @@ class OffboardPosctlTest(unittest.TestCase):
         pos = PoseStamped()
         pos.header = Header() 
         pos.header.frame_id = "base_footprint"
-        pos.header.stamp = rospy.Time.now()
         pos.pose.position.x = x
         pos.pose.position.y = y
         pos.pose.position.z = z
@@ -102,6 +115,8 @@ class OffboardPosctlTest(unittest.TestCase):
         # does it reach the position in X seconds?
         count = 0
         while(count < timeout):
+            # update timestamp for each published SP
+            pos.header.stamp = rospy.Time.now()
             self.pubSpt.publish(pos)
             
             if(self.is_at_position(pos.pose.position.x, pos.pose.position.y, pos.pose.position.z, 0.5)):
@@ -111,11 +126,24 @@ class OffboardPosctlTest(unittest.TestCase):
 
         self.assertTrue(count < timeout, "took too long to get to position")
 
+    def arm(self):
+        return self.cmdArm(value=True)
+
     #
-    # Test offboard POSCTL
+    # Test offboard position control
     #
     def test_posctl(self):
-        # prepare flight path assertion
+        # FIXME: this must go ASAP when arming is implemented
+        manIn = ManualInput()
+        manIn.arm()
+        manIn.offboard()
+
+        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
         positions = (
             (0,0,0),
             (2,2,2),
@@ -142,5 +170,5 @@ class OffboardPosctlTest(unittest.TestCase):
 
 if __name__ == '__main__':
     import rostest
-    rostest.rosrun(PKG, 'posctl_test', OffboardPosctlTest)
+    rostest.rosrun(PKG, 'mavros_offboard_posctl_test', MavrosOffboardPosctlTest)
     #unittest.main()

integrationtests/demo_tests/mavros_tests.launch

@@ -15,4 +15,5 @@
     <include file="$(find px4)/launch/mavros_sitl.launch" />
 
     <test test-name="mavros_offboard_posctl_test" pkg="px4" type="mavros_offboard_posctl_test.py" />
+    <test test-name="mavros_offboard_attctl_test" pkg="px4" type="mavros_offboard_attctl_test.py" />
 </launch>

launch/gazebo_ardrone_empty_world_offboard_attitudedemo.launch

@@ -3,8 +3,7 @@
 
 <include file="$(find px4)/launch/gazebo_ardrone_empty_world.launch" />
 <include file="$(find px4)/launch/mavros_sitl.launch" />
-<group ns="px4_multicopter">
+
-	<node pkg="px4" name="demo_offboard_attitude_setpoints" type="demo_offboard_attitude_setpoints"/>
+<node pkg="px4" name="demo_offboard_attitude_setpoints" type="demo_offboard_attitude_setpoints"/>
-</group>
 
 </launch>

launch/gazebo_ardrone_empty_world_offboard_positiondemo.launch

@@ -3,8 +3,7 @@
 
 <include file="$(find px4)/launch/gazebo_ardrone_empty_world.launch" />
 <include file="$(find px4)/launch/mavros_sitl.launch" />
-<group ns="px4_multicopter">
+
-	<node pkg="px4" name="demo_offboard_position_setpoints" type="demo_offboard_position_setpoints"/>
+<node pkg="px4" name="demo_offboard_position_setpoints" type="demo_offboard_position_setpoints"/>
-</group>
 
 </launch>

launch/mavros_sitl.launch

@@ -2,7 +2,6 @@
 	<!-- vim: set ft=xml noet : -->
 	<!-- example launch script for PX4 based FCU's -->
 
-	<group ns="px4_multicopter">
 	<arg name="fcu_url" default="udp://localhost:14560@localhost:14565" />
 	<arg name="gcs_url" default="" />
 	<arg name="tgt_system" default="1" />
@@ -19,5 +18,4 @@
 		<arg name="tgt_system" value="$(arg tgt_system)" />
 		<arg name="tgt_component" value="$(arg tgt_component)" />
 	</include>
-	</group>
 </launch>