forked from Archive/PX4-Autopilot
Merge pull request #1922 from UAVenture/sitl_test_updates
SITL test updates (cleanup)
This commit is contained in:
Lorenz Meier
commit
9935707acd
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@ -37,7 +37,6 @@
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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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@ -50,14 +49,18 @@ from manual_input import ManualInput
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#
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class ManualInputTest(unittest.TestCase):
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def setUp(self):
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self.actuator_status = actuator_armed()
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self.control_mode = 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 actuator_armed_callback(self, data):
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self.actuatorStatus = data
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self.actuator_status = data
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def vehicle_control_mode_callback(self, data):
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self.controlMode = data
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self.control_mode = data
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#
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# Test arming
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@ -67,19 +70,19 @@ class ManualInputTest(unittest.TestCase):
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rospy.Subscriber('iris/actuator_armed', actuator_armed, self.actuator_armed_callback)
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rospy.Subscriber('iris/vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback)
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man = ManualInput()
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man_in = ManualInput()
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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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man_in.arm()
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self.assertEquals(self.actuator_status.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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man_in.posctl()
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self.assertTrue(self.control_mode.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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man_in.offboard()
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self.assertTrue(self.control_mode.flag_control_offboard_enabled, "flag_control_offboard_enabled is not set")
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if __name__ == '__main__':
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@ -37,7 +37,6 @@
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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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@ -46,11 +45,8 @@ 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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from px4.msg import position_setpoint_triplet
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from px4.msg import position_setpoint
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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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@ -68,31 +64,34 @@ class DirectOffboardPosctlTest(unittest.TestCase):
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rospy.init_node('test_node', anonymous=True)
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rospy.Subscriber('iris/vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback)
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rospy.Subscriber("iris/vehicle_local_position", vehicle_local_position, self.position_callback)
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self.pubSpt = rospy.Publisher('iris/position_setpoint_triplet', position_setpoint_triplet, queue_size=10)
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self.pub_spt = rospy.Publisher('iris/position_setpoint_triplet', position_setpoint_triplet, queue_size=10)
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self.rate = rospy.Rate(10) # 10hz
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self.has_pos = False
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self.local_position = vehicle_local_position()
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self.control_mode = vehicle_control_mode()
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def tearDown(self):
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if (self.fpa):
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if self.fpa:
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self.fpa.stop()
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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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self.has_pos = True
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self.local_position = data
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def vehicle_control_mode_callback(self, data):
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self.controlMode = data
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self.control_mode = data
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#
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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.logdebug("current position %f, %f, %f" % (self.localPosition.x, self.localPosition.y, self.localPosition.z))
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rospy.logdebug("current position %f, %f, %f" % (self.local_position.x, self.local_position.y, self.local_position.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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pos = np.array((self.local_position.x, self.local_position.y, self.local_position.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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@ -105,12 +104,12 @@ class DirectOffboardPosctlTest(unittest.TestCase):
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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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self.pub_spt.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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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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@ -121,22 +120,23 @@ class DirectOffboardPosctlTest(unittest.TestCase):
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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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man_in = ManualInput()
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# arm and go into offboard
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manIn.arm()
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manIn.offboard()
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self.assertTrue(self.controlMode.flag_armed, "flag_armed is not set")
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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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man_in.arm()
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man_in.offboard()
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self.assertTrue(self.control_mode.flag_armed, "flag_armed is not set")
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self.assertTrue(self.control_mode.flag_control_offboard_enabled, "flag_control_offboard_enabled is not set")
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self.assertTrue(self.control_mode.flag_control_position_enabled, "flag_control_position_enabled is not set")
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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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(2,-2,-2),
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(-2,-2,-2),
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(2,2,-2))
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(0, 0, 0),
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(0, 0, -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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(2, 2, -2))
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# flight path assertion
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self.fpa = FlightPathAssertion(positions, 1, 0)
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@ -147,12 +147,10 @@ class DirectOffboardPosctlTest(unittest.TestCase):
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self.assertFalse(self.fpa.failed, "breached flight path tunnel (%d)" % i)
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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(2, 2, -2, 0.5)):
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positionHeld = False
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while count < timeout:
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if not self.is_at_position(2, 2, -2, 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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@ -2,7 +2,7 @@
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<arg name="headless" default="true"/>
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<arg name="gui" default="false"/>
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<arg name="enable_logging" default="false"/>
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<arg name="enable_ground_truth" default="false"/>
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<arg name="enable_ground_truth" default="true"/>
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<arg name="log_file" default="iris"/>
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<include file="$(find px4)/launch/gazebo_iris_empty_world.launch">
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@ -35,7 +35,6 @@
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#
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# @author Andreas Antener <andreas@uaventure.com>
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#
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import sys
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import rospy
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import threading
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@ -48,7 +47,6 @@ 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 on expected flight path.
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@ -62,30 +60,52 @@ class FlightPathAssertion(threading.Thread):
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# TODO: yaw validation
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# TODO: fail main test thread
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#
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def __init__(self, positions, tunnelRadius = 1, yawOffset = 0.2):
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def __init__(self, positions, tunnelRadius=1, yaw_offset=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.spawnModel = 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.deleteModel = rospy.ServiceProxy('gazebo/delete_model', DeleteModel)
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rospy.Subscriber("iris/vehicle_local_position", vehicle_local_position, self.position_callback)
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self.spawn_model = rospy.ServiceProxy('gazebo/spawn_sdf_model', SpawnModel)
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self.set_model_state = rospy.ServiceProxy('gazebo/set_model_state', SetModelState)
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self.delete_model = rospy.ServiceProxy('gazebo/delete_model', DeleteModel)
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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.tunnel_radius = tunnelRadius
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self.yaw_offset = yaw_offset
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self.has_pos = False
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self.should_stop = False
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self.center = positions[0]
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self.endOfSegment = False
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self.end_of_segment = False
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self.failed = False
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self.local_position = vehicle_local_position
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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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self.has_pos = True
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self.local_position = data
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def spawn_indicator(self):
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self.deleteModel("indicator")
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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.spawnModel("indicator", xml, "", Pose(), "")
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self.delete_model("indicator")
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xml = (
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"<?xml version='1.0'?>" +
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"<sdf version='1.4'>" +
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"<model name='indicator'>" +
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"<static>true</static>" +
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"<link name='link'>" +
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"<visual name='visual'>" +
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"<transparency>0.7</transparency>" +
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"<geometry>" +
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"<sphere>" +
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"<radius>%f</radius>" +
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"</sphere>" +
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"</geometry>" +
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"<material>" +
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"<ambient>1 0 0 0.5</ambient>" +
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"<diffuse>1 0 0 0.5</diffuse>" +
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"</material>" +
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"</visual>" +
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"</link>" +
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"</model>" +
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"</sdf>") % self.tunnel_radius
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self.spawn_model("indicator", xml, "", Pose(), "")
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def position_indicator(self):
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state = SetModelState()
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@ -97,7 +117,7 @@ class FlightPathAssertion(threading.Thread):
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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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self.set_model_state(state)
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def distance_to_line(self, a, b, pos):
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v = b - a
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@ -111,7 +131,7 @@ class FlightPathAssertion(threading.Thread):
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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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self.end_of_segment = True
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return linalg.norm(pos - b)
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x = c1 / c2
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@ -120,52 +140,58 @@ class FlightPathAssertion(threading.Thread):
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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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self.should_stop = 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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count = 0
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while not self.should_stop:
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if self.has_pos:
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# calculate distance to line segment between first two points
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# if distances > tunnelRadius
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# if distances > tunnel_radius
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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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# advance current pos if not on the line anymore or distance to next point < tunnel_radius
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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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pos = np.array((self.local_position.x,
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self.local_position.y,
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self.local_position.z))
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a_pos = 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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b_pos = 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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dist = self.distance_to_line(a_pos, b_pos, pos)
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b_dist = linalg.norm(pos - b_pos)
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rospy.logdebug("distance to line: %f, distance to end: %f" % (dist, bDist))
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rospy.logdebug("distance to line: %f, distance to end: %f" % (dist, b_dist))
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if (dist > self.tunnelRadius):
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msg = "left tunnel at position (%f, %f, %f)" % (self.localPosition.x, self.localPosition.y, self.localPosition.z)
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if dist > self.tunnel_radius:
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msg = "left tunnel at position (%f, %f, %f)" % (self.local_position.x, self.local_position.y, self.local_position.z)
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rospy.logerr(msg)
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self.failed = True
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break
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if (self.endOfSegment or bDist < self.tunnelRadius):
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if self.end_of_segment or b_dist < self.tunnel_radius:
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rospy.loginfo("next segment")
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self.endOfSegment = False
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self.end_of_segment = False
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current = current + 1
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if (current == len(self.positions) - 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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count = count + 1
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if count > 10 and not self.has_pos: # no position after 1 sec
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rospy.logerr("no position")
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self.failed = True
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break
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@ -35,7 +35,6 @@
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#
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# @author Andreas Antener <andreas@uaventure.com>
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#
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import sys
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import rospy
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from px4.msg import manual_control_setpoint
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@ -46,17 +45,12 @@ 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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# 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. Probably this whole class will disappear once
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# arming works correctly.
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#
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class ManualInput:
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class ManualInput(object):
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def __init__(self):
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rospy.init_node('test_node', anonymous=True)
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self.pubMcsp = rospy.Publisher('iris/manual_control_setpoint', manual_control_setpoint, queue_size=10)
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self.pubOff = rospy.Publisher('iris/offboard_control_mode', offboard_control_mode, queue_size=10)
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self.pubAtt = rospy.Publisher('iris/command/attitude', CommandAttitudeThrust, queue_size=10)
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self.pub_mcsp = rospy.Publisher('iris/manual_control_setpoint', manual_control_setpoint, queue_size=10)
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self.pub_off = rospy.Publisher('iris/offboard_control_mode', offboard_control_mode, queue_size=10)
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def arm(self):
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rate = rospy.Rate(10) # 10hz
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@ -81,9 +75,7 @@ class ManualInput:
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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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self.pubMcsp.publish(pos)
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# Fake input to iris commander
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self.pubAtt.publish(att)
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self.pub_mcsp.publish(pos)
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rate.sleep()
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count = count + 1
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@ -93,7 +85,7 @@ class ManualInput:
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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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self.pubMcsp.publish(pos)
|
||||
self.pub_mcsp.publish(pos)
|
||||
rate.sleep()
|
||||
count = count + 1
|
||||
|
||||
|
|
@ -118,7 +110,7 @@ class ManualInput:
|
|||
rospy.loginfo("triggering posctl")
|
||||
time = rospy.get_rostime().now()
|
||||
pos.timestamp = time.secs * 1e6 + time.nsecs / 1000
|
||||
self.pubMcsp.publish(pos)
|
||||
self.pub_mcsp.publish(pos)
|
||||
rate.sleep()
|
||||
count = count + 1
|
||||
|
||||
|
|
@ -147,7 +139,7 @@ class ManualInput:
|
|||
rospy.loginfo("setting offboard mode")
|
||||
time = rospy.get_rostime().now()
|
||||
mode.timestamp = time.secs * 1e6 + time.nsecs / 1000
|
||||
self.pubOff.publish(mode)
|
||||
self.pub_off.publish(mode)
|
||||
rate.sleep()
|
||||
count = count + 1
|
||||
|
||||
|
|
@ -169,7 +161,7 @@ class ManualInput:
|
|||
rospy.loginfo("triggering offboard")
|
||||
time = rospy.get_rostime().now()
|
||||
pos.timestamp = time.secs * 1e6 + time.nsecs / 1000
|
||||
self.pubMcsp.publish(pos)
|
||||
self.pub_mcsp.publish(pos)
|
||||
rate.sleep()
|
||||
count = count + 1
|
||||
|
||||
|
|
|
|||
|
|
@ -37,29 +37,20 @@
|
|||
#
|
||||
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
|
||||
# Tests flying a path in offboard control by sending attitude and thrust 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)
|
||||
# For the test to be successful it needs to cross a certain boundary in time.
|
||||
#
|
||||
class MavrosOffboardAttctlTest(unittest.TestCase):
|
||||
|
||||
|
|
@ -68,45 +59,27 @@ class MavrosOffboardAttctlTest(unittest.TestCase):
|
|||
rospy.wait_for_service('iris/mavros/cmd/arming', 30)
|
||||
rospy.Subscriber('iris/vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback)
|
||||
rospy.Subscriber("iris/mavros/position/local", PoseStamped, self.position_callback)
|
||||
self.pubAtt = rospy.Publisher('iris/mavros/setpoint/attitude', PoseStamped, queue_size=10)
|
||||
self.pubThr = rospy.Publisher('iris/mavros/setpoint/att_throttle', Float64, queue_size=10)
|
||||
self.cmdArm = rospy.ServiceProxy("iris/mavros/cmd/arming", CommandBool)
|
||||
self.pub_att = rospy.Publisher('iris/mavros/setpoint/attitude', PoseStamped, queue_size=10)
|
||||
self.pub_thr = rospy.Publisher('iris/mavros/setpoint/att_throttle', Float64, queue_size=10)
|
||||
self.rate = rospy.Rate(10) # 10hz
|
||||
self.rateSec = rospy.Rate(1)
|
||||
self.hasPos = False
|
||||
self.controlMode = vehicle_control_mode()
|
||||
self.has_pos = False
|
||||
self.control_mode = vehicle_control_mode()
|
||||
self.local_position = PoseStamped()
|
||||
|
||||
#
|
||||
# General callback functions used in tests
|
||||
#
|
||||
def position_callback(self, data):
|
||||
self.hasPos = True
|
||||
self.localPosition = data
|
||||
self.has_pos = True
|
||||
self.local_position = data
|
||||
|
||||
def vehicle_control_mode_callback(self, data):
|
||||
self.controlMode = data
|
||||
|
||||
|
||||
#
|
||||
# Helper methods
|
||||
#
|
||||
def arm(self):
|
||||
return self.cmdArm(value=True)
|
||||
self.control_mode = data
|
||||
|
||||
#
|
||||
# Test offboard position control
|
||||
#
|
||||
def test_attctl(self):
|
||||
# FIXME: this must go ASAP when arming is implemented
|
||||
manIn = ManualInput()
|
||||
manIn.arm()
|
||||
manIn.offboard_attctl()
|
||||
|
||||
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()
|
||||
|
|
@ -121,19 +94,23 @@ class MavrosOffboardAttctlTest(unittest.TestCase):
|
|||
# does it cross expected boundaries in X seconds?
|
||||
count = 0
|
||||
timeout = 120
|
||||
while(count < timeout):
|
||||
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.pub_att.publish(att)
|
||||
self.pub_thr.publish(throttle)
|
||||
self.rate.sleep()
|
||||
|
||||
if (self.local_position.pose.position.x > 5
|
||||
and self.local_position.pose.position.z > 5
|
||||
and self.local_position.pose.position.y < -5):
|
||||
break
|
||||
count = count + 1
|
||||
|
||||
self.assertTrue(self.control_mode.flag_armed, "flag_armed is not set")
|
||||
self.assertTrue(self.control_mode.flag_control_attitude_enabled, "flag_control_attitude_enabled is not set")
|
||||
self.assertTrue(self.control_mode.flag_control_offboard_enabled, "flag_control_offboard_enabled is not set")
|
||||
self.assertTrue(count < timeout, "took too long to cross boundaries")
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -37,7 +37,6 @@
|
|||
#
|
||||
PKG = 'px4'
|
||||
|
||||
import sys
|
||||
import unittest
|
||||
import rospy
|
||||
import math
|
||||
|
|
@ -49,9 +48,6 @@ 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
|
||||
|
||||
from manual_input import ManualInput
|
||||
|
||||
#
|
||||
# Tests flying a path in offboard control by sending position setpoints
|
||||
|
|
@ -64,37 +60,41 @@ class MavrosOffboardPosctlTest(unittest.TestCase):
|
|||
|
||||
def setUp(self):
|
||||
rospy.init_node('test_node', anonymous=True)
|
||||
rospy.wait_for_service('iris/mavros/cmd/arming', 30)
|
||||
rospy.Subscriber('iris/vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback)
|
||||
rospy.Subscriber("iris/mavros/position/local", PoseStamped, self.position_callback)
|
||||
self.pubSpt = rospy.Publisher('iris/mavros/setpoint/local_position', PoseStamped, queue_size=10)
|
||||
self.cmdArm = rospy.ServiceProxy("iris/mavros/cmd/arming", CommandBool)
|
||||
self.pub_spt = rospy.Publisher('iris/mavros/setpoint/local_position', PoseStamped, queue_size=10)
|
||||
self.rate = rospy.Rate(10) # 10hz
|
||||
self.rateSec = rospy.Rate(1)
|
||||
self.hasPos = False
|
||||
self.controlMode = vehicle_control_mode()
|
||||
self.has_pos = False
|
||||
self.local_position = PoseStamped()
|
||||
self.control_mode = vehicle_control_mode()
|
||||
|
||||
#
|
||||
# General callback functions used in tests
|
||||
#
|
||||
def position_callback(self, data):
|
||||
self.hasPos = True
|
||||
self.localPosition = data
|
||||
self.has_pos = True
|
||||
self.local_position = data
|
||||
|
||||
def vehicle_control_mode_callback(self, data):
|
||||
self.controlMode = data
|
||||
self.control_mode = data
|
||||
|
||||
|
||||
#
|
||||
# Helper methods
|
||||
#
|
||||
def is_at_position(self, x, y, z, offset):
|
||||
if(not self.hasPos):
|
||||
if not self.has_pos:
|
||||
return False
|
||||
|
||||
rospy.logdebug("current position %f, %f, %f" % (self.localPosition.pose.position.x, self.localPosition.pose.position.y, self.localPosition.pose.position.z))
|
||||
rospy.logdebug("current position %f, %f, %f" %
|
||||
(self.local_position.pose.position.x,
|
||||
self.local_position.pose.position.y,
|
||||
self.local_position.pose.position.z))
|
||||
|
||||
desired = np.array((x, y, z))
|
||||
pos = np.array((self.localPosition.pose.position.x, self.localPosition.pose.position.y, self.localPosition.pose.position.z))
|
||||
pos = np.array((self.local_position.pose.position.x,
|
||||
self.local_position.pose.position.y,
|
||||
self.local_position.pose.position.z))
|
||||
return linalg.norm(desired - pos) < offset
|
||||
|
||||
def reach_position(self, x, y, z, timeout):
|
||||
|
|
@ -114,57 +114,44 @@ class MavrosOffboardPosctlTest(unittest.TestCase):
|
|||
|
||||
# does it reach the position in X seconds?
|
||||
count = 0
|
||||
while(count < timeout):
|
||||
while count < timeout:
|
||||
# update timestamp for each published SP
|
||||
pos.header.stamp = rospy.Time.now()
|
||||
self.pubSpt.publish(pos)
|
||||
self.pub_spt.publish(pos)
|
||||
|
||||
if(self.is_at_position(pos.pose.position.x, pos.pose.position.y, pos.pose.position.z, 0.5)):
|
||||
if self.is_at_position(pos.pose.position.x, pos.pose.position.y, pos.pose.position.z, 0.5):
|
||||
break
|
||||
count = count + 1
|
||||
self.rate.sleep()
|
||||
|
||||
self.assertTrue(count < timeout, "took too long to get to position")
|
||||
|
||||
def arm(self):
|
||||
return self.cmdArm(value=True)
|
||||
|
||||
#
|
||||
# Test offboard position control
|
||||
#
|
||||
def test_posctl(self):
|
||||
# FIXME: this must go ASAP when arming is implemented
|
||||
manIn = ManualInput()
|
||||
manIn.arm()
|
||||
manIn.offboard_posctl()
|
||||
|
||||
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),
|
||||
(2,-2,2),
|
||||
(-2,-2,2),
|
||||
(2,2,2))
|
||||
(0, 0, 0),
|
||||
(2, 2, 2),
|
||||
(2, -2, 2),
|
||||
(-2, -2, 2),
|
||||
(2, 2, 2))
|
||||
|
||||
for i in range(0, len(positions)):
|
||||
self.reach_position(positions[i][0], positions[i][1], positions[i][2], 120)
|
||||
|
||||
# does it hold the position for Y seconds?
|
||||
positionHeld = True
|
||||
count = 0
|
||||
timeout = 50
|
||||
while(count < timeout):
|
||||
if(not self.is_at_position(2, 2, 2, 0.5)):
|
||||
positionHeld = False
|
||||
while count < timeout:
|
||||
if not self.is_at_position(2, 2, 2, 0.5):
|
||||
break
|
||||
count = count + 1
|
||||
self.rate.sleep()
|
||||
|
||||
self.assertTrue(self.control_mode.flag_armed, "flag_armed is not set")
|
||||
self.assertTrue(self.control_mode.flag_control_position_enabled, "flag_control_position_enabled is not set")
|
||||
self.assertTrue(self.control_mode.flag_control_offboard_enabled, "flag_control_offboard_enabled is not set")
|
||||
self.assertTrue(count == timeout, "position could not be held")
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -2,7 +2,7 @@
|
|||
<arg name="headless" default="true"/>
|
||||
<arg name="gui" default="false"/>
|
||||
<arg name="enable_logging" default="false"/>
|
||||
<arg name="enable_ground_truth" default="false"/>
|
||||
<arg name="enable_ground_truth" default="true"/>
|
||||
<arg name="ns" default="iris"/>
|
||||
<arg name="log_file" default="$(arg ns)"/>
|
||||
|
||||
|
|
|
|||
|
|
@ -3,7 +3,7 @@
|
|||
<arg name="headless" default="false"/>
|
||||
<arg name="gui" default="true"/>
|
||||
<arg name="enable_logging" default="false"/>
|
||||
<arg name="enable_ground_truth" default="false"/>
|
||||
<arg name="enable_ground_truth" default="true"/>
|
||||
<arg name="ns" default="ardrone"/>
|
||||
<arg name="log_file" default="$(arg ns)"/>
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue