px4-firmware/integrationtests/demo_tests/mavros_offboard_posctl_test.py

#!/usr/bin/env python
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#
# @author Andreas Antener <andreas@uaventure.com>
#
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 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
# 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)
#
class MavrosOffboardPosctlTest(unittest.TestCase):

    def setUp(self):
        rospy.init_node('test_node', anonymous=True)
        rospy.wait_for_service('mavros/cmd/arming', 30)
        rospy.Subscriber('px4_multicopter/vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback)
        rospy.Subscriber("mavros/position/local", PoseStamped, self.position_callback)
        self.pubSpt = rospy.Publisher('mavros/setpoint/local_position', PoseStamped, queue_size=10)
        self.cmdArm = rospy.ServiceProxy("mavros/cmd/arming", CommandBool)
        self.rate = rospy.Rate(10) # 10hz
        self.rateSec = rospy.Rate(1)
        self.hasPos = False
        self.controlMode = vehicle_control_mode()

    #
    # General callback functions used in tests
    #
    def position_callback(self, data):
        self.hasPos = True
        self.localPosition = data

    def vehicle_control_mode_callback(self, data):
        self.controlMode = data


    #
    # Helper methods
    #
    def is_at_position(self, x, y, z, offset):
        if(not self.hasPos):
            return False

        rospy.logdebug("current position %f, %f, %f" % (self.localPosition.pose.position.x, self.localPosition.pose.position.y, self.localPosition.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))
        return linalg.norm(desired - pos) < offset

    def reach_position(self, x, y, z, timeout):
        # set a position setpoint
        pos = PoseStamped()
        pos.header = Header() 
        pos.header.frame_id = "base_footprint"
        pos.pose.position.x = x
        pos.pose.position.y = y
        pos.pose.position.z = 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)
        pos.pose.orientation = Quaternion(*quaternion)

        # does it reach the position in X seconds?
        count = 0
        while(count < timeout):
            # update timestamp for each published SP
            pos.header.stamp = rospy.Time.now()
            self.pubSpt.publish(pos)
            
            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))

        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
                break
            count = count + 1
            self.rate.sleep()

        self.assertTrue(count == timeout, "position could not be held")
    

if __name__ == '__main__':
    import rostest
    rostest.rosrun(PKG, 'mavros_offboard_posctl_test', MavrosOffboardPosctlTest)
    #unittest.main()