Commit 75f16780 authored by Andreas Antener's avatar Andreas Antener Committed by Thomas Gubler
Browse files

- updated position control test

- added flight path assertion helper
parent e0e7f8c5
#!/usr/bin/env python
import sys
import rospy
import threading
from px4.msg import vehicle_local_position
from gazebo_msgs.srv import SpawnModel
from gazebo_msgs.srv import SetModelState
from geometry_msgs.msg import Pose
from geometry_msgs.msg import Twist
from numpy import linalg
import numpy as np
import math
#
# Helper to test if vehicle stays in expected flight path.
#
class FlightPathAssertion(threading.Thread):
def __init__(self, positions, tunnelRadius = 1, yawOffset = 0.2):
threading.Thread.__init__(self)
rospy.Subscriber("px4_multicopter/vehicle_local_position", vehicle_local_position, self.position_callback)
self.spawn = rospy.ServiceProxy('gazebo/spawn_sdf_model', SpawnModel)
self.setModelState = rospy.ServiceProxy('gazebo/set_model_state', SetModelState)
self.positions = positions
self.tunnelRadius = tunnelRadius
self.yawOffset = yawOffset
self.hasPos = False
self.shouldStop = False
self.center = positions[0]
self.endOfSegment = False
def position_callback(self, data):
self.hasPos = True
self.localPosition = data
def spawn_indicator(self):
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
self.spawn("indicator", xml, "", Pose(), "")
def position_indicator(self):
state = SetModelState()
state.model_name = "indicator"
pose = Pose()
pose.position.x = self.center[0]
pose.position.y = (-1) * self.center[1]
pose.position.z = (-1) * self.center[2]
state.pose = pose
state.twist = Twist()
state.reference_frame = ""
self.setModelState(state)
def distance_to_line(self, a, b, pos):
v = b - a
w = pos - a
c1 = np.dot(w, v)
if c1 <= 0: # before a
self.center = a
return linalg.norm(pos - a)
c2 = np.dot(v, v)
if c2 <= c1: # after b
self.center = b
self.endOfSegment = True
return linalg.norm(pos - b)
x = c1 / c2
l = a + x * v
self.center = l
return linalg.norm(pos - l)
def stop(self):
self.shouldStop = True
def run(self):
rate = rospy.Rate(10) # 10hz
self.spawn_indicator()
current = 0
while not self.shouldStop:
if (self.hasPos):
# calculate distance to line segment between first two points
# if distances > tunnelRadius
# exit with error
# advance current pos if not on the line anymore or distance to next point < tunnelRadius
# exit if current pos is now the last position
self.position_indicator()
pos = np.array((self.localPosition.x,
self.localPosition.y,
self.localPosition.z))
aPos = np.array((self.positions[current][0],
self.positions[current][1],
self.positions[current][2]))
bPos = np.array((self.positions[current + 1][0],
self.positions[current + 1][1],
self.positions[current + 1][2]))
dist = self.distance_to_line(aPos, bPos, pos)
bDist = linalg.norm(pos - bPos)
rospy.loginfo("distance to line: %f, distance to end: %f" % (dist, bDist))
if (dist > self.tunnelRadius):
rospy.logerr("left tunnel at position (%f, %f, %f)" % (self.localPosition.x, self.localPosition.y, self.localPosition.z))
# FIXME: assertion
break
if (self.endOfSegment or bDist < self.tunnelRadius):
rospy.loginfo("next segment")
self.endOfSegment = False
current = current + 1
if (current == len(self.positions) - 1):
rospy.loginfo("no more positions")
break
rate.sleep()
......@@ -5,6 +5,9 @@ import sys
import unittest
import rospy
from numpy import linalg
import numpy as np
from px4.msg import vehicle_local_position
from px4.msg import vehicle_control_mode
from px4.msg import actuator_armed
......@@ -14,10 +17,18 @@ from sensor_msgs.msg import Joy
from std_msgs.msg import Header
from manual_input import ManualInput
from flight_path_assertion import FlightPathAssertion
class OffboardPosctlTest(unittest.TestCase):
def setUp(self):
rospy.init_node('test_node', anonymous=True)
rospy.Subscriber('px4_multicopter/vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback)
rospy.Subscriber("px4_multicopter/vehicle_local_position", vehicle_local_position, self.position_callback)
self.pubSpt = rospy.Publisher('px4_multicopter/position_setpoint_triplet', position_setpoint_triplet, queue_size=10)
self.rate = rospy.Rate(10) # 10hz
#
# General callback functions used in tests
#
......@@ -33,64 +44,78 @@ class OffboardPosctlTest(unittest.TestCase):
# Helper methods
#
def is_at_position(self, x, y, z, offset):
rospy.loginfo("current position %f, %f, %f" % (self.localPosition.x, self.localPosition.y, self.localPosition.z))
return self.localPosition.z > (z - offset) and self.localPosition.z < (z + offset)
#
# Test offboard POSCTL
#
def test_posctl(self):
rospy.init_node('test_node', anonymous=True)
rospy.Subscriber('px4_multicopter/vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback)
rospy.Subscriber("px4_multicopter/vehicle_local_position", vehicle_local_position, self.position_callback)
pubSpt = rospy.Publisher('px4_multicopter/position_setpoint_triplet', position_setpoint_triplet, queue_size=10)
rate = rospy.Rate(10) # 10hz
rospy.logdebug("current position %f, %f, %f" % (self.localPosition.x, self.localPosition.y, self.localPosition.z))
desired = np.array((x, y, z))
pos = np.array((self.localPosition.x, self.localPosition.y, self.localPosition.z))
return linalg.norm(desired - pos) < offset
manIn = ManualInput()
# arm and go into offboard
manIn.arm()
manIn.offboard()
self.assertTrue(self.controlMode.flag_armed, "flag_armed is not set")
self.assertTrue(self.controlMode.flag_control_offboard_enabled, "flag_control_offboard_enabled is not set")
self.assertTrue(self.controlMode.flag_control_position_enabled, "flag_control_position_enabled is not set")
def reach_position(self, x, y, z, timeout):
# set a position setpoint
pos = position_setpoint()
pos.valid = True
pos.x = 2
pos.z = -2
pos.y = 2
pos.x = x
pos.y = y
pos.z = z
pos.position_valid = True
stp = position_setpoint_triplet()
stp.current = pos
pubSpt.publish(stp)
self.pubSpt.publish(stp)
# does it reach the position in X seconds?
count = 0
timeout = 120
while(count < timeout):
if(self.is_at_position(pos.x, pos.y, pos.z, 0.5)):
break
count = count + 1
rate.sleep()
self.rate.sleep()
self.assertTrue(count < timeout, "took too long to get to position")
#
# Test offboard POSCTL
#
def test_posctl(self):
manIn = ManualInput()
# arm and go into offboard
manIn.arm()
manIn.offboard()
self.assertTrue(self.controlMode.flag_armed, "flag_armed is not set")
self.assertTrue(self.controlMode.flag_control_offboard_enabled, "flag_control_offboard_enabled is not set")
self.assertTrue(self.controlMode.flag_control_position_enabled, "flag_control_position_enabled is not set")
# prepare flight path assertion
fpa = FlightPathAssertion(
(
(0,0,0),
(2,2,-2),
(2,-2,-2),
(-2,-2,-2),
(2,2,-2),
), 0.5, 0)
fpa.start()
self.reach_position(2, 2, -2, 120)
self.reach_position(2, -2, -2, 120)
self.reach_position(-2, -2, -2, 120)
self.reach_position(2, 2, -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(pos.x, pos.y, pos.z, 0.5)):
if(not self.is_at_position(2, 2, -2, 0.5)):
positionHeld = False
break
count = count + 1
rate.sleep()
self.rate.sleep()
self.assertTrue(count == timeout, "position could not be held")
fpa.stop()
if __name__ == '__main__':
import rostest
rostest.rosrun(PKG, 'posctl_test', OffboardPosctlTest)
#unittest.main()
Supports Markdown
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment