Lorenz Meier
10 years ago
11 changed files with 239 additions and 51 deletions
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#!/usr/bin/env python |
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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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PKG = 'px4' |
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import sys |
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import unittest |
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import rospy |
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import math |
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from numpy import linalg |
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import numpy as np |
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from px4.msg import vehicle_control_mode |
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from std_msgs.msg import Header |
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from std_msgs.msg import Float64 |
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from geometry_msgs.msg import PoseStamped, Quaternion |
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from tf.transformations import quaternion_from_euler |
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from mavros.srv import CommandBool |
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from manual_input import ManualInput |
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# |
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# Tests flying a path in offboard control by sending position setpoints |
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# over MAVROS. |
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# |
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# For the test to be successful it needs to reach all setpoints in a certain time. |
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# FIXME: add flight path assertion (needs transformation from ROS frame to NED) |
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# |
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class MavrosOffboardAttctlTest(unittest.TestCase): |
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def setUp(self): |
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rospy.init_node('test_node', anonymous=True) |
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rospy.wait_for_service('mavros/cmd/arming', 30) |
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rospy.Subscriber('px4_multicopter/vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback) |
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rospy.Subscriber("mavros/position/local", PoseStamped, self.position_callback) |
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self.pubAtt = rospy.Publisher('mavros/setpoint/attitude', PoseStamped, queue_size=10) |
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self.pubThr = rospy.Publisher('mavros/setpoint/att_throttle', Float64, queue_size=10) |
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self.cmdArm = rospy.ServiceProxy("mavros/cmd/arming", CommandBool) |
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self.rate = rospy.Rate(10) # 10hz |
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self.rateSec = rospy.Rate(1) |
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self.hasPos = False |
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self.controlMode = vehicle_control_mode() |
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# |
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# General callback functions used in tests |
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# |
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def position_callback(self, data): |
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self.hasPos = True |
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self.localPosition = data |
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def vehicle_control_mode_callback(self, data): |
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self.controlMode = data |
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# |
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# Helper methods |
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# |
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def arm(self): |
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return self.cmdArm(value=True) |
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# |
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# Test offboard position control |
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# |
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def test_attctl(self): |
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# FIXME: this must go ASAP when arming is implemented |
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manIn = ManualInput() |
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manIn.arm() |
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self.assertTrue(self.arm(), "Could not arm") |
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self.rateSec.sleep() |
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self.rateSec.sleep() |
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self.assertTrue(self.controlMode.flag_armed, "flag_armed is not set after 2 seconds") |
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# set some attitude and thrust |
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att = PoseStamped() |
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att.header = Header() |
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att.header.frame_id = "base_footprint" |
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att.header.stamp = rospy.Time.now() |
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quaternion = quaternion_from_euler(0.2, 0.2, 0) |
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att.pose.orientation = Quaternion(*quaternion) |
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throttle = Float64() |
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throttle.data = 0.6 |
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# does it cross expected boundaries in X seconds? |
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count = 0 |
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timeout = 120 |
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while(count < timeout): |
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# update timestamp for each published SP |
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att.header.stamp = rospy.Time.now() |
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self.pubAtt.publish(att) |
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self.pubThr.publish(throttle) |
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if (self.localPosition.pose.position.x > 5 |
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and self.localPosition.pose.position.z > 5 |
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and self.localPosition.pose.position.y < -5): |
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break |
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count = count + 1 |
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self.rate.sleep() |
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self.assertTrue(count < timeout, "took too long to cross boundaries") |
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if __name__ == '__main__': |
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import rostest |
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rostest.rosrun(PKG, 'mavros_offboard_attctl_test', MavrosOffboardAttctlTest) |
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#unittest.main() |
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