forked from Archive/PX4-Autopilot
Merge pull request #1854 from UAVenture/mavros_arming
Mavros test updates
This commit is contained in:
Lorenz Meier
commit
9574c6dd2a
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@ -42,32 +42,46 @@ import unittest
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import rospy
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from px4.msg import actuator_armed
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from px4.msg import vehicle_control_mode
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from manual_input import ManualInput
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class ArmTest(unittest.TestCase):
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#
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# Tests if commander reacts to manual input and sets control flags accordingly
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#
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class ManualInputTest(unittest.TestCase):
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#
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# General callback functions used in tests
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#
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def actuator_armed_callback(self, data):
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self.actuatorStatus = data
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def vehicle_control_mode_callback(self, data):
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self.controlMode = data
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#
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# Test arming
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#
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def test_arm(self):
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def test_manual_input(self):
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rospy.init_node('test_node', anonymous=True)
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sub = rospy.Subscriber('px4_multicopter/actuator_armed', actuator_armed, self.actuator_armed_callback)
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rospy.Subscriber('px4_multicopter/actuator_armed', actuator_armed, self.actuator_armed_callback)
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rospy.Subscriber('px4_multicopter/vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback)
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# method to test
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arm = ManualInput()
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arm.arm()
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man = ManualInput()
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self.assertEquals(self.actuatorStatus.armed, True, "not armed")
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# Test arming
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man.arm()
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self.assertEquals(self.actuatorStatus.armed, True, "did not arm")
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# Test posctl
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man.posctl()
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self.assertTrue(self.controlMode.flag_control_position_enabled, "flag_control_position_enabled is not set")
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# Test offboard
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man.offboard()
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self.assertTrue(self.controlMode.flag_control_offboard_enabled, "flag_control_offboard_enabled is not set")
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if __name__ == '__main__':
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import rostest
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rostest.rosrun(PKG, 'arm_test', ArmTest)
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rostest.rosrun(PKG, 'direct_manual_input_test', ManualInputTest)
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@ -55,8 +55,14 @@ 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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#
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# Tests flying a path in offboard control by directly sending setpoints
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# to the position controller (position_setpoint_triplet).
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#
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# For the test to be successful it needs to stay on the predefined path
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# and reach all setpoints in a certain time.
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#
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class DirectOffboardPosctlTest(unittest.TestCase):
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def setUp(self):
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rospy.init_node('test_node', anonymous=True)
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@ -112,7 +118,7 @@ class OffboardPosctlTest(unittest.TestCase):
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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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# Test offboard position control
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#
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def test_posctl(self):
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manIn = ManualInput()
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@ -124,7 +130,7 @@ 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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# prepare flight path assertion
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# prepare flight path
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positions = (
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(0,0,0),
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(2,2,-2),
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@ -132,6 +138,7 @@ class OffboardPosctlTest(unittest.TestCase):
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(-2,-2,-2),
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(2,2,-2))
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# flight path assertion
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self.fpa = FlightPathAssertion(positions, 1, 0)
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self.fpa.start()
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@ -156,5 +163,5 @@ class OffboardPosctlTest(unittest.TestCase):
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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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rostest.rosrun(PKG, 'direct_offboard_posctl_test', DirectOffboardPosctlTest)
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#unittest.main()
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@ -13,6 +13,6 @@
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<arg name="log_file" value="$(arg log_file)"/>
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</include>
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<test test-name="direct_arm" pkg="px4" type="direct_arm_test.py" />
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<test test-name="direct_offboard_posctl" pkg="px4" type="direct_offboard_posctl_test.py" />
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<test test-name="direct_manual_input_test" pkg="px4" type="direct_manual_input_test.py" />
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<test test-name="direct_offboard_posctl_test" pkg="px4" type="direct_offboard_posctl_test.py" />
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</launch>
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@ -51,7 +51,7 @@ 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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# Helper to test if vehicle stays on expected flight path.
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#
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class FlightPathAssertion(threading.Thread):
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@ -45,7 +45,7 @@ from std_msgs.msg import Header
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#
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# Manual input control helper
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#
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# Note: this is not the way to do it. ATM it fakes input to iris/command/attitude because else
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# FIXME: this is not the way to do it! ATM it fakes input to iris/command/attitude because else
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# the simulator does not instantiate our controller.
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#
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class ManualInput:
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@ -74,7 +74,7 @@ class ManualInput:
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pos.offboard_switch = 3
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count = 0
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while not rospy.is_shutdown() and count < 10:
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while not rospy.is_shutdown() and count < 5:
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rospy.loginfo("zeroing")
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time = rospy.get_rostime().now()
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pos.timestamp = time.secs * 1e6 + time.nsecs / 1000
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@ -86,7 +86,7 @@ class ManualInput:
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pos.r = 1
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count = 0
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while not rospy.is_shutdown() and count < 10:
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while not rospy.is_shutdown() and count < 5:
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rospy.loginfo("arming")
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time = rospy.get_rostime().now()
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pos.timestamp = time.secs * 1e6 + time.nsecs / 1000
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@ -111,7 +111,7 @@ class ManualInput:
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pos.offboard_switch = 3
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count = 0
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while not rospy.is_shutdown() and count < 10:
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while not rospy.is_shutdown() and count < 5:
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rospy.loginfo("triggering posctl")
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time = rospy.get_rostime().now()
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pos.timestamp = time.secs * 1e6 + time.nsecs / 1000
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@ -122,7 +122,7 @@ class ManualInput:
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def offboard(self):
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rate = rospy.Rate(10) # 10hz
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# triggers posctl
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# triggers offboard
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pos = manual_control_setpoint()
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pos.x = 0
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pos.z = 0
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@ -136,8 +136,8 @@ class ManualInput:
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pos.offboard_switch = 1
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count = 0
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while not rospy.is_shutdown() and count < 10:
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rospy.loginfo("triggering posctl")
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while not rospy.is_shutdown() and count < 5:
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rospy.loginfo("triggering offboard")
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time = rospy.get_rostime().now()
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pos.timestamp = time.secs * 1e6 + time.nsecs / 1000
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self.pubMcsp.publish(pos)
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@ -0,0 +1,142 @@
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#!/usr/bin/env python
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#***************************************************************************
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#
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# Copyright (c) 2015 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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#***************************************************************************/
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#
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# @author Andreas Antener <andreas@uaventure.com>
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#
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PKG = 'px4'
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import sys
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import unittest
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import rospy
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import math
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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_control_mode
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from std_msgs.msg import Header
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from std_msgs.msg import Float64
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from geometry_msgs.msg import PoseStamped, Quaternion
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from tf.transformations import quaternion_from_euler
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from mavros.srv import CommandBool
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from manual_input import ManualInput
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#
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# Tests flying a path in offboard control by sending position setpoints
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# over MAVROS.
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#
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# For the test to be successful it needs to reach all setpoints in a certain time.
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# FIXME: add flight path assertion (needs transformation from ROS frame to NED)
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#
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class MavrosOffboardAttctlTest(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.wait_for_service('mavros/cmd/arming', 30)
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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("mavros/position/local", PoseStamped, self.position_callback)
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self.pubAtt = rospy.Publisher('mavros/setpoint/attitude', PoseStamped, queue_size=10)
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self.pubThr = rospy.Publisher('mavros/setpoint/att_throttle', Float64, queue_size=10)
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self.cmdArm = rospy.ServiceProxy("mavros/cmd/arming", CommandBool)
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self.rate = rospy.Rate(10) # 10hz
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self.rateSec = rospy.Rate(1)
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self.hasPos = False
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self.controlMode = vehicle_control_mode()
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#
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# General callback functions used in tests
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#
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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 vehicle_control_mode_callback(self, data):
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self.controlMode = data
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#
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# Helper methods
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#
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def arm(self):
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return self.cmdArm(value=True)
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#
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# Test offboard position control
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#
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def test_attctl(self):
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# FIXME: this must go ASAP when arming is implemented
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manIn = ManualInput()
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manIn.arm()
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self.assertTrue(self.arm(), "Could not arm")
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self.rateSec.sleep()
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self.rateSec.sleep()
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self.assertTrue(self.controlMode.flag_armed, "flag_armed is not set after 2 seconds")
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# set some attitude and thrust
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att = PoseStamped()
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att.header = Header()
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att.header.frame_id = "base_footprint"
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att.header.stamp = rospy.Time.now()
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quaternion = quaternion_from_euler(0.2, 0.2, 0)
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att.pose.orientation = Quaternion(*quaternion)
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throttle = Float64()
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throttle.data = 0.6
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# does it cross expected boundaries 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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# update timestamp for each published SP
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att.header.stamp = rospy.Time.now()
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self.pubAtt.publish(att)
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self.pubThr.publish(throttle)
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if (self.localPosition.pose.position.x > 5
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and self.localPosition.pose.position.z > 5
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and self.localPosition.pose.position.y < -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 cross boundaries")
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if __name__ == '__main__':
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import rostest
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rostest.rosrun(PKG, 'mavros_offboard_attctl_test', MavrosOffboardAttctlTest)
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#unittest.main()
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@ -49,16 +49,30 @@ from px4.msg import vehicle_control_mode
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from std_msgs.msg import Header
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from geometry_msgs.msg import PoseStamped, Quaternion
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from tf.transformations import quaternion_from_euler
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from mavros.srv import CommandBool
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class OffboardPosctlTest(unittest.TestCase):
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from manual_input import ManualInput
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#
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# Tests flying a path in offboard control by sending position setpoints
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# over MAVROS.
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#
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# For the test to be successful it needs to reach all setpoints in a certain time.
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# FIXME: add flight path assertion (needs transformation from ROS frame to NED)
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#
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class MavrosOffboardPosctlTest(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.wait_for_service('mavros/cmd/arming', 30)
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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/mavros/position/local", PoseStamped, self.position_callback)
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self.pubSpt = rospy.Publisher('px4_multicopter/mavros/setpoint/local_position', PoseStamped, queue_size=10)
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rospy.Subscriber("mavros/position/local", PoseStamped, self.position_callback)
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self.pubSpt = rospy.Publisher('mavros/setpoint/local_position', PoseStamped, queue_size=10)
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self.cmdArm = rospy.ServiceProxy("mavros/cmd/arming", CommandBool)
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self.rate = rospy.Rate(10) # 10hz
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self.rateSec = rospy.Rate(1)
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self.hasPos = False
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self.controlMode = vehicle_control_mode()
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#
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# General callback functions used in tests
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@ -88,7 +102,6 @@ class OffboardPosctlTest(unittest.TestCase):
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pos = PoseStamped()
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pos.header = Header()
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pos.header.frame_id = "base_footprint"
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pos.header.stamp = rospy.Time.now()
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pos.pose.position.x = x
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pos.pose.position.y = y
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pos.pose.position.z = z
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@ -102,6 +115,8 @@ class OffboardPosctlTest(unittest.TestCase):
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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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# update timestamp for each published SP
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pos.header.stamp = rospy.Time.now()
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self.pubSpt.publish(pos)
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if(self.is_at_position(pos.pose.position.x, pos.pose.position.y, pos.pose.position.z, 0.5)):
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@ -111,11 +126,24 @@ class OffboardPosctlTest(unittest.TestCase):
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self.assertTrue(count < timeout, "took too long to get to position")
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def arm(self):
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return self.cmdArm(value=True)
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#
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# Test offboard POSCTL
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# Test offboard position control
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#
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def test_posctl(self):
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# prepare flight path assertion
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# FIXME: this must go ASAP when arming is implemented
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manIn = ManualInput()
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manIn.arm()
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manIn.offboard()
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self.assertTrue(self.arm(), "Could not arm")
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self.rateSec.sleep()
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self.rateSec.sleep()
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self.assertTrue(self.controlMode.flag_armed, "flag_armed is not set after 2 seconds")
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# prepare flight path
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positions = (
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(0,0,0),
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(2,2,2),
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@ -142,5 +170,5 @@ class OffboardPosctlTest(unittest.TestCase):
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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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rostest.rosrun(PKG, 'mavros_offboard_posctl_test', MavrosOffboardPosctlTest)
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#unittest.main()
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@ -15,4 +15,5 @@
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<include file="$(find px4)/launch/mavros_sitl.launch" />
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<test test-name="mavros_offboard_posctl_test" pkg="px4" type="mavros_offboard_posctl_test.py" />
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<test test-name="mavros_offboard_attctl_test" pkg="px4" type="mavros_offboard_attctl_test.py" />
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</launch>
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|
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@ -3,8 +3,7 @@
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<include file="$(find px4)/launch/gazebo_ardrone_empty_world.launch" />
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<include file="$(find px4)/launch/mavros_sitl.launch" />
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<group ns="px4_multicopter">
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<node pkg="px4" name="demo_offboard_attitude_setpoints" type="demo_offboard_attitude_setpoints"/>
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</group>
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<node pkg="px4" name="demo_offboard_attitude_setpoints" type="demo_offboard_attitude_setpoints"/>
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</launch>
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|
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@ -3,8 +3,7 @@
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|
||||
<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"/>
|
||||
</group>
|
||||
|
||||
<node pkg="px4" name="demo_offboard_position_setpoints" type="demo_offboard_position_setpoints"/>
|
||||
|
||||
</launch>
|
||||
|
|
|
|||
|
|
@ -2,22 +2,20 @@
|
|||
<!-- 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" />
|
||||
<arg name="tgt_component" default="50" />
|
||||
<arg name="fcu_url" default="udp://localhost:14560@localhost:14565" />
|
||||
<arg name="gcs_url" default="" />
|
||||
<arg name="tgt_system" default="1" />
|
||||
<arg name="tgt_component" default="50" />
|
||||
|
||||
<param name="mavros/setpoint/attitude/listen_twist" type="bool" value="false" />
|
||||
<param name="mavros/setpoint/attitude/listen_twist" type="bool" value="false" />
|
||||
|
||||
<include file="$(find mavros)/launch/node.launch">
|
||||
<arg name="blacklist_yaml" value="$(find mavros)/launch/px4_blacklist.yaml" />
|
||||
<arg name="config_yaml" value="$(find mavros)/launch/px4_config.yaml" />
|
||||
<include file="$(find mavros)/launch/node.launch">
|
||||
<arg name="blacklist_yaml" value="$(find mavros)/launch/px4_blacklist.yaml" />
|
||||
<arg name="config_yaml" value="$(find mavros)/launch/px4_config.yaml" />
|
||||
|
||||
<arg name="fcu_url" value="$(arg fcu_url)" />
|
||||
<arg name="gcs_url" value="$(arg gcs_url)" />
|
||||
<arg name="tgt_system" value="$(arg tgt_system)" />
|
||||
<arg name="tgt_component" value="$(arg tgt_component)" />
|
||||
</include>
|
||||
</group>
|
||||
<arg name="fcu_url" value="$(arg fcu_url)" />
|
||||
<arg name="gcs_url" value="$(arg gcs_url)" />
|
||||
<arg name="tgt_system" value="$(arg tgt_system)" />
|
||||
<arg name="tgt_component" value="$(arg tgt_component)" />
|
||||
</include>
|
||||
</launch>
|
||||
|
|
|
|||
Loading…
Reference in New Issue