forked from Archive/PX4-Autopilot
193 lines
7.2 KiB
Python
Executable File
193 lines
7.2 KiB
Python
Executable File
#!/usr/bin/env python2
|
|
#***************************************************************************
|
|
#
|
|
# Copyright (c) 2015 PX4 Development Team. All rights reserved.
|
|
#
|
|
# Redistribution and use in source and binary forms, with or without
|
|
# modification, are permitted provided that the following conditions
|
|
# are met:
|
|
#
|
|
# 1. Redistributions of source code must retain the above copyright
|
|
# notice, this list of conditions and the following disclaimer.
|
|
# 2. Redistributions in binary form must reproduce the above copyright
|
|
# notice, this list of conditions and the following disclaimer in
|
|
# the documentation and/or other materials provided with the
|
|
# distribution.
|
|
# 3. Neither the name PX4 nor the names of its contributors may be
|
|
# used to endorse or promote products derived from this software
|
|
# without specific prior written permission.
|
|
#
|
|
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
# POSSIBILITY OF SUCH DAMAGE.
|
|
#
|
|
#***************************************************************************/
|
|
|
|
#
|
|
# @author Andreas Antener <andreas@uaventure.com>
|
|
#
|
|
# The shebang of this file is currently Python2 because some
|
|
# dependencies such as pymavlink don't play well with Python3 yet.
|
|
from __future__ import division
|
|
|
|
PKG = 'px4'
|
|
|
|
import rospy
|
|
import math
|
|
import numpy as np
|
|
from geometry_msgs.msg import PoseStamped, Quaternion
|
|
from mavros_msgs.msg import ParamValue
|
|
from mavros_test_common import MavrosTestCommon
|
|
from pymavlink import mavutil
|
|
from six.moves import xrange
|
|
from std_msgs.msg import Header
|
|
from threading import Thread
|
|
from tf.transformations import quaternion_from_euler
|
|
|
|
|
|
class MavrosOffboardPosctlTest(MavrosTestCommon):
|
|
"""
|
|
Tests flying a path in offboard control by sending position setpoints
|
|
via 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)
|
|
"""
|
|
|
|
def setUp(self):
|
|
super(MavrosOffboardPosctlTest, self).setUp()
|
|
|
|
self.pos = PoseStamped()
|
|
self.radius = 1
|
|
|
|
self.pos_setpoint_pub = rospy.Publisher(
|
|
'mavros/setpoint_position/local', PoseStamped, queue_size=1)
|
|
|
|
# send setpoints in separate thread to better prevent failsafe
|
|
self.pos_thread = Thread(target=self.send_pos, args=())
|
|
self.pos_thread.daemon = True
|
|
self.pos_thread.start()
|
|
|
|
def tearDown(self):
|
|
super(MavrosOffboardPosctlTest, self).tearDown()
|
|
|
|
#
|
|
# Helper methods
|
|
#
|
|
def send_pos(self):
|
|
rate = rospy.Rate(10) # Hz
|
|
self.pos.header = Header()
|
|
self.pos.header.frame_id = "base_footprint"
|
|
|
|
while not rospy.is_shutdown():
|
|
self.pos.header.stamp = rospy.Time.now()
|
|
self.pos_setpoint_pub.publish(self.pos)
|
|
try: # prevent garbage in console output when thread is killed
|
|
rate.sleep()
|
|
except rospy.ROSInterruptException:
|
|
pass
|
|
|
|
def is_at_position(self, x, y, z, offset):
|
|
"""offset: meters"""
|
|
rospy.logdebug(
|
|
"current position | x:{0:.2f}, y:{1:.2f}, z:{2:.2f}".format(
|
|
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.local_position.pose.position.x,
|
|
self.local_position.pose.position.y,
|
|
self.local_position.pose.position.z))
|
|
return np.linalg.norm(desired - pos) < offset
|
|
|
|
def reach_position(self, x, y, z, timeout):
|
|
"""timeout(int): seconds"""
|
|
# set a position setpoint
|
|
self.pos.pose.position.x = x
|
|
self.pos.pose.position.y = y
|
|
self.pos.pose.position.z = z
|
|
rospy.loginfo(
|
|
"attempting to reach position | x: {0}, y: {1}, z: {2} | current position x: {3:.2f}, y: {4:.2f}, z: {5:.2f}".
|
|
format(x, y, z, self.local_position.pose.position.x,
|
|
self.local_position.pose.position.y,
|
|
self.local_position.pose.position.z))
|
|
|
|
# For demo purposes we will lock yaw/heading to north.
|
|
yaw_degrees = 0 # North
|
|
yaw = math.radians(yaw_degrees)
|
|
quaternion = quaternion_from_euler(0, 0, yaw)
|
|
self.pos.pose.orientation = Quaternion(*quaternion)
|
|
|
|
# does it reach the position in 'timeout' seconds?
|
|
loop_freq = 2 # Hz
|
|
rate = rospy.Rate(loop_freq)
|
|
reached = False
|
|
for i in xrange(timeout * loop_freq):
|
|
if self.is_at_position(self.pos.pose.position.x,
|
|
self.pos.pose.position.y,
|
|
self.pos.pose.position.z, self.radius):
|
|
rospy.loginfo("position reached | seconds: {0} of {1}".format(
|
|
i / loop_freq, timeout))
|
|
reached = True
|
|
break
|
|
|
|
try:
|
|
rate.sleep()
|
|
except rospy.ROSException as e:
|
|
self.fail(e)
|
|
|
|
self.assertTrue(reached, (
|
|
"took too long to get to position | current position x: {0:.2f}, y: {1:.2f}, z: {2:.2f} | timeout(seconds): {3}".
|
|
format(self.local_position.pose.position.x,
|
|
self.local_position.pose.position.y,
|
|
self.local_position.pose.position.z, timeout)))
|
|
|
|
#
|
|
# Test method
|
|
#
|
|
def test_posctl(self):
|
|
"""Test offboard position control"""
|
|
|
|
# make sure the simulation is ready to start the mission
|
|
self.wait_for_topics(60)
|
|
self.wait_for_landed_state(mavutil.mavlink.MAV_LANDED_STATE_ON_GROUND,
|
|
10, -1)
|
|
|
|
self.log_topic_vars()
|
|
# exempting failsafe from lost RC to allow offboard
|
|
rcl_except = ParamValue(1<<2, 0.0)
|
|
self.set_param("COM_RCL_EXCEPT", rcl_except, 5)
|
|
self.set_mode("OFFBOARD", 5)
|
|
self.set_arm(True, 5)
|
|
|
|
rospy.loginfo("run mission")
|
|
positions = ((0, 0, 0), (50, 50, 20), (50, -50, 20), (-50, -50, 20),
|
|
(0, 0, 20))
|
|
|
|
for i in xrange(len(positions)):
|
|
self.reach_position(positions[i][0], positions[i][1],
|
|
positions[i][2], 30)
|
|
|
|
self.set_mode("AUTO.LAND", 5)
|
|
self.wait_for_landed_state(mavutil.mavlink.MAV_LANDED_STATE_ON_GROUND,
|
|
45, 0)
|
|
self.set_arm(False, 5)
|
|
|
|
|
|
if __name__ == '__main__':
|
|
import rostest
|
|
rospy.init_node('test_node', anonymous=True)
|
|
|
|
rostest.rosrun(PKG, 'mavros_offboard_posctl_test',
|
|
MavrosOffboardPosctlTest)
|