forked from Archive/PX4-Autopilot
159 lines
5.9 KiB
Python
Executable File
159 lines
5.9 KiB
Python
Executable File
#!/usr/bin/env python2
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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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# The shebang of this file is currently Python2 because some
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# dependencies such as pymavlink don't play well with Python3 yet.
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from __future__ import division
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PKG = 'px4'
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import rospy
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from geometry_msgs.msg import Quaternion, Vector3
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from mavros_msgs.msg import AttitudeTarget
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from mavros_test_common import MavrosTestCommon
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from pymavlink import mavutil
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from six.moves import xrange
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from std_msgs.msg import Header
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from threading import Thread
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from tf.transformations import quaternion_from_euler
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class MavrosOffboardAttctlTest(MavrosTestCommon):
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"""
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Tests flying in offboard control by sending attitude and thrust setpoints
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via MAVROS.
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For the test to be successful it needs to cross a certain boundary in time.
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"""
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def setUp(self):
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super(MavrosOffboardAttctlTest, self).setUp()
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self.att = AttitudeTarget()
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self.att_setpoint_pub = rospy.Publisher(
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'mavros/setpoint_raw/attitude', AttitudeTarget, queue_size=1)
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# send setpoints in separate thread to better prevent failsafe
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self.att_thread = Thread(target=self.send_att, args=())
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self.att_thread.daemon = True
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self.att_thread.start()
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def tearDown(self):
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super(MavrosOffboardAttctlTest, self).tearDown()
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#
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# Helper methods
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#
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def send_att(self):
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rate = rospy.Rate(10) # Hz
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self.att.body_rate = Vector3()
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self.att.header = Header()
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self.att.header.frame_id = "base_footprint"
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self.att.orientation = Quaternion(*quaternion_from_euler(-0.25, 0.15,
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0))
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self.att.thrust = 0.7
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self.att.type_mask = 7 # ignore body rate
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while not rospy.is_shutdown():
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self.att.header.stamp = rospy.Time.now()
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self.att_setpoint_pub.publish(self.att)
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try: # prevent garbage in console output when thread is killed
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rate.sleep()
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except rospy.ROSInterruptException:
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pass
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#
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# Test method
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#
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def test_attctl(self):
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"""Test offboard attitude control"""
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# boundary to cross
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boundary_x = 200
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boundary_y = 100
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boundary_z = 20
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# make sure the simulation is ready to start the mission
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self.wait_for_topics(60)
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self.wait_for_landed_state(mavutil.mavlink.MAV_LANDED_STATE_ON_GROUND,
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10, -1)
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self.log_topic_vars()
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self.set_mode("OFFBOARD", 5)
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self.set_arm(True, 5)
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rospy.loginfo("run mission")
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rospy.loginfo("attempting to cross boundary | x: {0}, y: {1}, z: {2}".
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format(boundary_x, boundary_y, boundary_z))
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# does it cross expected boundaries in 'timeout' seconds?
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timeout = 90 # (int) seconds
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loop_freq = 2 # Hz
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rate = rospy.Rate(loop_freq)
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crossed = False
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for i in xrange(timeout * loop_freq):
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if (self.local_position.pose.position.x > boundary_x and
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self.local_position.pose.position.y > boundary_y and
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self.local_position.pose.position.z > boundary_z):
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rospy.loginfo("boundary crossed | seconds: {0} of {1}".format(
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i / loop_freq, timeout))
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crossed = True
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break
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try:
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rate.sleep()
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except rospy.ROSException as e:
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self.fail(e)
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self.assertTrue(crossed, (
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"took too long to cross boundaries | current position x: {0:.2f}, y: {1:.2f}, z: {2:.2f} | timeout(seconds): {3}".
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format(self.local_position.pose.position.x,
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self.local_position.pose.position.y,
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self.local_position.pose.position.z, timeout)))
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self.set_mode("AUTO.LAND", 5)
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self.wait_for_landed_state(mavutil.mavlink.MAV_LANDED_STATE_ON_GROUND,
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90, 0)
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self.set_arm(False, 5)
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if __name__ == '__main__':
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import rostest
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rospy.init_node('test_node', anonymous=True)
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rostest.rosrun(PKG, 'mavros_offboard_attctl_test',
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MavrosOffboardAttctlTest)
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