forked from Archive/PX4-Autopilot
reorganized posix sitl launch scripts, reorganized mavros python test scripts (integration tests) and updated them for posix sitl, removed old and not working integration tests
This commit is contained in:
Andreas Antener
parent
a8a57ca20c
commit
bee2c98785
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@ -1,90 +0,0 @@
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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 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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#
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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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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.actuator_status = data
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def vehicle_control_mode_callback(self, data):
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self.control_mode = data
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#
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# Test arming
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#
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def test_manual_input(self):
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rospy.init_node('test_node', anonymous=True)
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rospy.Subscriber('actuator_armed', actuator_armed, self.actuator_armed_callback)
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rospy.Subscriber('vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback)
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man_in = ManualInput()
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# Test arming
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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_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_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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import rostest
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rostest.rosrun(PKG, 'direct_manual_input_test', ManualInputTest)
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@ -1,175 +0,0 @@
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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 unittest
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import rospy
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import rosbag
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from numpy import linalg
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import numpy as np
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from px4.msg import vehicle_local_position
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from px4.msg import vehicle_control_mode
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from px4.msg import position_setpoint_triplet
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from px4.msg import position_setpoint
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from px4.msg import vehicle_local_position_setpoint
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from manual_input import ManualInput
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from flight_path_assertion import FlightPathAssertion
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from px4_test_helper import PX4TestHelper
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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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self.helper = PX4TestHelper("direct_offboard_posctl_test")
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self.helper.setUp()
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rospy.Subscriber('vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback)
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self.sub_vlp = rospy.Subscriber("vehicle_local_position", vehicle_local_position, self.position_callback)
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self.pub_spt = rospy.Publisher('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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self.fpa.stop()
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self.helper.tearDown()
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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.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.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.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.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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# set a position setpoint
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pos = position_setpoint()
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pos.valid = True
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pos.x = x
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pos.y = y
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pos.z = z
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pos.position_valid = True
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stp = position_setpoint_triplet()
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stp.current = pos
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self.pub_spt.publish(stp)
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self.helper.bag_write('px4/position_setpoint_triplet', stp)
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# does it reach the position in X seconds?
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count = 0
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while count < timeout:
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if self.is_at_position(pos.x, pos.y, pos.z, 0.5):
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break
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count = count + 1
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self.rate.sleep()
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self.assertTrue(count < timeout, "took too long to get to position")
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#
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# Test offboard position control
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#
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def test_posctl(self):
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man_in = ManualInput()
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# arm and go into offboard
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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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(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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self.fpa.start()
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for i in range(0, len(positions)):
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self.reach_position(positions[i][0], positions[i][1], positions[i][2], 120)
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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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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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break
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count = count + 1
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self.rate.sleep()
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self.assertTrue(count == timeout, "position could not be held")
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self.fpa.stop()
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if __name__ == '__main__':
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import rostest
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rostest.rosrun(PKG, 'direct_offboard_posctl_test', DirectOffboardPosctlTest)
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#unittest.main()
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<launch>
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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="true"/>
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<arg name="ns" default="iris"/>
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<arg name="log_file" default="$(arg ns)"/>
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<include file="$(find px4)/launch/gazebo_iris_empty_world.launch">
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<arg name="headless" value="$(arg headless)"/>
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<arg name="gui" value="$(arg gui)"/>
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<arg name="enable_logging" value="$(arg enable_logging)" />
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<arg name="enable_ground_truth" value="$(arg enable_ground_truth)" />
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<arg name="log_file" value="$(arg log_file)"/>
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<arg name="ns" value="$(arg ns)"/>
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</include>
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<group ns="$(arg ns)">
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<test test-name="direct_manual_input_test" pkg="px4" type="direct_manual_input_test.py" />
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<test test-name="direct_offboard_posctl_test" pkg="px4" type="direct_offboard_posctl_test.py" />
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</group>
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</launch>
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@ -1,25 +0,0 @@
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<launch>
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<arg name="headless" default="true"/>
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<arg name="gui" default="false"/>
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<arg name="enable_logging" default="false"/>
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<arg name="enable_ground_truth" default="true"/>
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<arg name="ns" default="iris"/>
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<arg name="log_file" default="$(arg ns)"/>
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<include file="$(find px4)/launch/gazebo_iris_empty_world.launch">
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<arg name="headless" value="$(arg headless)"/>
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<arg name="gui" value="$(arg gui)"/>
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<arg name="enable_logging" value="$(arg enable_logging)" />
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<arg name="enable_ground_truth" value="$(arg enable_ground_truth)" />
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<arg name="log_file" value="$(arg log_file)"/>
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<arg name="ns" value="$(arg ns)"/>
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</include>
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<include file="$(find px4)/launch/mavros_sitl.launch">
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<arg name="ns" value="$(arg ns)"/>
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</include>
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<group ns="$(arg ns)">
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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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</group>
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</launch>
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<launch>
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<arg name="headless" default="true"/>
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<arg name="gui" default="false"/>
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<arg name="ns" default="iris"/>
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<node pkg="px4" type="sitl_run.sh" name="simulator" args="posix-configs/SITL/init/rcS none gazebo iris $(find px4)/build_posix_sitl_default">
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<env name="no_sim" value="1" />
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</node>
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<include file="$(find gazebo_ros)/launch/empty_world.launch">
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<arg name="headless" value="$(arg headless)"/>
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<arg name="gui" value="$(arg gui)"/>
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<arg name="world_name" value="$(find px4)/Tools/sitl_gazebo/worlds/iris.world" />
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</include>
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<include file="$(find px4)/launch/mavros_sitl.launch">
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<arg name="ns" value="$(arg ns)"/>
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<arg name="fcu_url" value="udp://:14567@localhost:14557"/>
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<arg name="tgt_component" value="1"/>
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</include>
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<group ns="$(arg ns)">
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<test test-name="mavros_offboard_posctl_test" pkg="px4" type="mavros_offboard_posctl_test.py" time-limit="120.0" />
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<test test-name="mavros_offboard_attctl_test" pkg="px4" type="mavros_offboard_attctl_test.py" />
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</group>
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</launch>
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@ -46,6 +46,7 @@ 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_msgs.srv import CommandLong
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from sensor_msgs.msg import NavSatFix
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#from px4_test_helper import PX4TestHelper
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class MavrosOffboardAttctlTest(unittest.TestCase):
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@ -63,12 +64,13 @@ class MavrosOffboardAttctlTest(unittest.TestCase):
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#self.helper.setUp()
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rospy.Subscriber("mavros/local_position/pose", PoseStamped, self.position_callback)
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rospy.Subscriber("mavros/global_position/global", NavSatFix, self.global_position_callback)
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self.pub_att = rospy.Publisher('mavros/setpoint_attitude/attitude', PoseStamped, queue_size=10)
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self.pub_thr = rospy.Publisher('mavros/setpoint_attitude/att_throttle', Float64, queue_size=10)
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rospy.wait_for_service('mavros/cmd/command', 30)
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self._srv_cmd_long = rospy.ServiceProxy('mavros/cmd/command', CommandLong, persistent=True)
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self.rate = rospy.Rate(10) # 10hz
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self.has_pos = False
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self.has_global_pos = False
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self.local_position = PoseStamped()
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def tearDown(self):
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@ -79,22 +81,28 @@ class MavrosOffboardAttctlTest(unittest.TestCase):
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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.has_pos = True
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self.local_position = data
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def global_position_callback(self, data):
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self.has_global_pos = True
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def test_attctl(self):
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"""Test offboard attitude control"""
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# FIXME: hack to wait for simulation to be ready
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while not self.has_global_pos:
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self.rate.sleep()
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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(0.15, 0.15, 0)
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quaternion = quaternion_from_euler(0.25, 0.25, 0)
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att.pose.orientation = Quaternion(*quaternion)
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throttle = Float64()
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throttle.data = 0.8
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throttle.data = 0.7
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armed = False
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# does it cross expected boundaries in X seconds?
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@ -110,7 +118,7 @@ class MavrosOffboardAttctlTest(unittest.TestCase):
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#self.helper.bag_write('mavros/setpoint_attitude/att_throttle', throttle)
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self.rate.sleep()
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# arm and switch to offboard
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# FIXME: arm and switch to offboard
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# (need to wait the first few rounds until PX4 has the offboard stream)
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if not armed and count > 5:
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self._srv_cmd_long(False, 176, False,
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@ -49,6 +49,7 @@ 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_msgs.srv import CommandLong
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from sensor_msgs.msg import NavSatFix
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#from px4_test_helper import PX4TestHelper
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class MavrosOffboardPosctlTest(unittest.TestCase):
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@ -66,11 +67,12 @@ class MavrosOffboardPosctlTest(unittest.TestCase):
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#self.helper.setUp()
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rospy.Subscriber("mavros/local_position/pose", PoseStamped, self.position_callback)
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rospy.Subscriber("mavros/global_position/global", NavSatFix, self.global_position_callback)
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self.pub_spt = rospy.Publisher('mavros/setpoint_position/local', PoseStamped, queue_size=10)
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rospy.wait_for_service('mavros/cmd/command', 30)
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self._srv_cmd_long = rospy.ServiceProxy('mavros/cmd/command', CommandLong, persistent=True)
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self.rate = rospy.Rate(10) # 10hz
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self.has_pos = False
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||||
self.has_global_pos = False
|
||||
self.local_position = PoseStamped()
|
||||
self.armed = False
|
||||
|
||||
|
|
@ -82,17 +84,15 @@ class MavrosOffboardPosctlTest(unittest.TestCase):
|
|||
# General callback functions used in tests
|
||||
#
|
||||
def position_callback(self, data):
|
||||
self.has_pos = True
|
||||
self.local_position = data
|
||||
|
||||
def global_position_callback(self, data):
|
||||
self.has_global_pos = True
|
||||
|
||||
#
|
||||
# Helper methods
|
||||
#
|
||||
def is_at_position(self, x, y, z, offset):
|
||||
if not self.has_pos:
|
||||
return False
|
||||
|
||||
rospy.logdebug("current position %f, %f, %f" %
|
||||
(self.local_position.pose.position.x,
|
||||
self.local_position.pose.position.y,
|
||||
|
|
@ -127,7 +127,7 @@ class MavrosOffboardPosctlTest(unittest.TestCase):
|
|||
self.pub_spt.publish(pos)
|
||||
#self.helper.bag_write('mavros/setpoint_position/local', pos)
|
||||
|
||||
# arm and switch to offboard
|
||||
# FIXME: arm and switch to offboard
|
||||
# (need to wait the first few rounds until PX4 has the offboard stream)
|
||||
if not self.armed and count > 5:
|
||||
self._srv_cmd_long(False, 176, False,
|
||||
|
|
@ -144,6 +144,10 @@ class MavrosOffboardPosctlTest(unittest.TestCase):
|
|||
def test_posctl(self):
|
||||
"""Test offboard position control"""
|
||||
|
||||
# FIXME: hack to wait for simulation to be ready
|
||||
while not self.has_global_pos:
|
||||
self.rate.sleep()
|
||||
|
||||
positions = (
|
||||
(0, 0, 0),
|
||||
(2, 2, 2),
|
||||
|
|
@ -0,0 +1 @@
|
|||
TODO: Adopt to new SITL
|
||||
|
|
@ -21,5 +21,5 @@ fi
|
|||
# Assuming that necessary source projects, including this one, are cloned in the build server workspace of this job.
|
||||
#
|
||||
echo "===> run container"
|
||||
docker run --rm -v "$WORKSPACE:/job:rw" px4io/px4-dev-ros bash "/job/Firmware/integrationtests/run-tests.bash"
|
||||
docker run --rm -v "$WORKSPACE:/job:rw" px4io/px4-dev-ros bash "/job/Firmware/integrationtests/run_tests.bash" /job/Firmware
|
||||
echo "<==="
|
||||
|
|
@ -5,48 +5,55 @@
|
|||
# License: according to LICENSE.md in the root directory of the PX4 Firmware repository
|
||||
set -e
|
||||
|
||||
SRC_DIR=/root/Firmware
|
||||
if [ "$#" -lt 1 ]
|
||||
then
|
||||
echo usage: run_tests.bash firmware_src_dir
|
||||
echo ""
|
||||
exit 1
|
||||
fi
|
||||
|
||||
SRC_DIR=$1
|
||||
JOB_DIR=SRC_DIR/..
|
||||
BUILD=posix_sitl_default
|
||||
# TODO
|
||||
ROS_TEST_RESULT_DIR=/root/.ros/test_results/px4
|
||||
ROS_LOG_DIR=/root/.ros/log
|
||||
PX4_LOG_DIR=${SRC_DIR}/build_${BUILD}/src/firmware/posix/rootfs/fs/microsd/log
|
||||
TEST_RESULT_TARGET_DIR=/job/test_results
|
||||
TEST_RESULT_TARGET_DIR=$JOB_DIR/test_results
|
||||
# BAGS=/root/.ros
|
||||
# CHARTS=/root/.ros/charts
|
||||
# EXPORT_CHARTS=/sitl/testing/export_charts.py
|
||||
|
||||
# source ROS env, setup Gazebo env
|
||||
# source ROS env
|
||||
source /opt/ros/indigo/setup.bash
|
||||
export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:${SRC_DIR}/Tools/sitl_gazebo/models
|
||||
export GAZEBO_PLUGIN_PATH=${SRC_DIR}/Tools/sitl_gazebo/Build/:${GAZEBO_PLUGIN_PATH}
|
||||
export LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:${SRC_DIR}/Tools/sitl_gazebo/Build/msgs/
|
||||
export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:${SRC_DIR}
|
||||
source $SRC_DIR/integrationtests/setup_gazebo_ros.bash $SRC_DIR
|
||||
|
||||
echo "deleting previous test results"
|
||||
if [ -d ${TEST_RESULT_TARGET_DIR} ]; then
|
||||
rm -r ${TEST_RESULT_TARGET_DIR}
|
||||
fi
|
||||
|
||||
echo "linking source to test"
|
||||
if [ -d "${SRC_DIR}" ]; then
|
||||
rm -r ${SRC_DIR}
|
||||
# FIXME: Firmware compilation seems to CD into this directory (/root/Firmware)
|
||||
# when run from "run_container.bash"
|
||||
if [ -d /root/Firmware ]; then
|
||||
rm /root/Firmware
|
||||
fi
|
||||
ln -s /job/Firmware ${SRC_DIR}
|
||||
ln -s ${SRC_DIR} /root/Firmware
|
||||
|
||||
echo "=====> compile"
|
||||
echo "=====> compile ($SRC_DIR)"
|
||||
cd $SRC_DIR
|
||||
make ${BUILD}
|
||||
mkdir -p Tools/sitl_gazebo/Build
|
||||
cd Tools/sitl_gazebo/Build
|
||||
cmake -Wno-dev ..
|
||||
make -j4
|
||||
make sdf
|
||||
echo "<====="
|
||||
|
||||
# don't exit on error anymore from here on (because single tests or exports might fail)
|
||||
set +e
|
||||
echo "=====> run tests"
|
||||
rostest px4 mavros_tests_posix.launch
|
||||
rostest px4 mavros_posix_tests_iris.launch
|
||||
TEST_RESULT=$?
|
||||
echo "<====="
|
||||
|
||||
|
|
@ -0,0 +1,20 @@
|
|||
#!/bin/bash
|
||||
#
|
||||
# Setup environment to make PX4 visible to ROS/Gazebo.
|
||||
#
|
||||
# License: according to LICENSE.md in the root directory of the PX4 Firmware repository
|
||||
|
||||
if [ "$#" -lt 1 ]
|
||||
then
|
||||
echo usage: source setup_gazebo_ros.bash firmware_src_dir
|
||||
echo ""
|
||||
return 1
|
||||
fi
|
||||
|
||||
SRC_DIR=$1
|
||||
|
||||
# setup Gazebo env and update package path
|
||||
export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:${SRC_DIR}/Tools/sitl_gazebo/models
|
||||
export GAZEBO_PLUGIN_PATH=${SRC_DIR}/Tools/sitl_gazebo/Build/:${GAZEBO_PLUGIN_PATH}
|
||||
export LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:${SRC_DIR}/Tools/sitl_gazebo/Build/msgs/
|
||||
export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:${SRC_DIR}
|
||||
|
|
@ -0,0 +1,21 @@
|
|||
<launch>
|
||||
<!-- MAVROS launch script PX4 (default) -->
|
||||
|
||||
<arg name="ns" default="/" />
|
||||
<arg name="fcu_url" default="" />
|
||||
<arg name="gcs_url" default="udp://:14550@:14555" />
|
||||
<arg name="tgt_system" default="1" />
|
||||
<arg name="tgt_component" default="1" />
|
||||
|
||||
<group ns="$(arg ns)">
|
||||
<include file="$(find mavros)/launch/node.launch">
|
||||
<arg name="pluginlists_yaml" value="$(find mavros)/launch/px4_pluginlists.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="$(arg tgt_component)" />
|
||||
</include>
|
||||
</group>
|
||||
</launch>
|
||||
|
|
@ -0,0 +1,22 @@
|
|||
<launch>
|
||||
<!-- MAVROS posix SITL environment launch script -->
|
||||
|
||||
<arg name="headless" default="false"/>
|
||||
<arg name="gui" default="true"/>
|
||||
<arg name="ns" default="/"/>
|
||||
<arg name="world" default="iris"/>
|
||||
<arg name="build" default="posix_sitl_default"/>
|
||||
|
||||
<include file="$(find px4)/launch/posix_sitl.launch">
|
||||
<arg name="headless" value="$(arg headless)"/>
|
||||
<arg name="gui" value="$(arg gui)"/>
|
||||
<arg name="ns" value="$(arg ns)"/>
|
||||
<arg name="world" value="$(arg world)"/>
|
||||
<arg name="build" value="$(arg build)"/>
|
||||
</include>
|
||||
|
||||
<include file="$(find px4)/launch/mavros.launch">
|
||||
<arg name="ns" value="$(arg ns)"/>
|
||||
<arg name="fcu_url" value="udp://:14567@localhost:14557"/>
|
||||
</include>
|
||||
</launch>
|
||||
|
|
@ -0,0 +1,18 @@
|
|||
<launch>
|
||||
<!-- Posix SITL MAVROS integration tests -->
|
||||
|
||||
<arg name="ns" default="/"/>
|
||||
<arg name="headless" default="true"/>
|
||||
<arg name="gui" default="false"/>
|
||||
|
||||
<include file="$(find px4)/launch/mavros_posix_sitl.launch">
|
||||
<arg name="ns" value="$(arg ns)"/>
|
||||
<arg name="headless" value="$(arg headless)"/>
|
||||
<arg name="gui" value="$(arg gui)"/>
|
||||
</include>
|
||||
|
||||
<group ns="$(arg ns)">
|
||||
<test test-name="mavros_offboard_posctl_test" pkg="px4" type="mavros_offboard_posctl_test.py" time-limit="120.0" />
|
||||
<test test-name="mavros_offboard_attctl_test" pkg="px4" type="mavros_offboard_attctl_test.py" />
|
||||
</group>
|
||||
</launch>
|
||||
|
|
@ -1,6 +1,5 @@
|
|||
<launch>
|
||||
<!-- vim: set ft=xml noet : -->
|
||||
<!-- example launch script for PX4 based FCU's -->
|
||||
<!-- MAVROS launch script for deprecated multiplatform SITL -->
|
||||
|
||||
<arg name="ns" default="/" />
|
||||
<arg name="fcu_url" default="udp://localhost:14560@localhost:14565" />
|
||||
|
|
|
|||
|
|
@ -0,0 +1,19 @@
|
|||
<launch>
|
||||
<!-- Posix SITL environment launch script -->
|
||||
|
||||
<arg name="headless" default="false"/>
|
||||
<arg name="gui" default="true"/>
|
||||
<arg name="ns" default="/"/>
|
||||
<arg name="world" default="iris"/>
|
||||
<arg name="build" default="posix_sitl_default"/>
|
||||
|
||||
<node pkg="px4" type="sitl_run.sh" name="simulator" args="posix-configs/SITL/init/rcS none gazebo iris $(find px4)/build_$(arg build)">
|
||||
<env name="no_sim" value="1" />
|
||||
</node>
|
||||
|
||||
<include file="$(find gazebo_ros)/launch/empty_world.launch">
|
||||
<arg name="headless" value="$(arg headless)"/>
|
||||
<arg name="gui" value="$(arg gui)"/>
|
||||
<arg name="world_name" value="$(find px4)/Tools/sitl_gazebo/worlds/$(arg world).world" />
|
||||
</include>
|
||||
</launch>
|
||||
|
|
@ -18,11 +18,6 @@ param set CAL_ACC0_YSCALE 1.01
|
|||
param set CAL_ACC0_ZSCALE 1.01
|
||||
param set CAL_ACC1_XOFF 0.01
|
||||
param set CAL_MAG0_XOFF 0.01
|
||||
param set MPC_XY_P 0.25
|
||||
param set MPC_XY_VEL_P 0.05
|
||||
param set MPC_XY_VEL_D 0.005
|
||||
param set MPC_XY_FF 0.1
|
||||
param set MPC_Z_P 1.3
|
||||
param set SENS_BOARD_ROT 8
|
||||
param set SENS_BOARD_X_OFF 0.000001
|
||||
param set COM_RC_IN_MODE 1
|
||||
|
|
|
|||
Loading…
Reference in New Issue