Commit b955b939 authored by Andreas Antener's avatar Andreas Antener Committed by Thomas Gubler
Browse files

added mavros offboard test

parent 638022f7
#!/usr/bin/env python
#***************************************************************************
#
# 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
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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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
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/mavros/position/local", PoseStamped, self.position_callback)
self.pubSpt = rospy.Publisher('px4_multicopter/mavros/setpoint/local_position', PoseStamped, queue_size=10)
self.rate = rospy.Rate(10) # 10hz
self.hasPos = False
#
# 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.header.stamp = rospy.Time.now()
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):
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")
#
# Test offboard POSCTL
#
def test_posctl(self):
# prepare flight path assertion
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, 'posctl_test', OffboardPosctlTest)
#unittest.main()
<launch>
<arg name="headless" default="true"/>
<arg name="headless" default="true"/>
<arg name="gui" default="false"/>
<arg name="enable_logging" default="false"/>
<arg name="enable_ground_truth" default="false"/>
......@@ -14,5 +14,5 @@
</include>
<include file="$(find px4)/launch/mavros_sitl.launch" />
<test test-name="direct_arm" pkg="px4" type="mavros_offboard_posctl_test.py" />
<test test-name="mavros_offboard_posctl_test" pkg="px4" type="mavros_offboard_posctl_test.py" />
</launch>
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