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add safe_landing_planner to CI

sbg
Martina Rivizzigno 6 years ago committed by Daniel Agar
parent
14501dfdf2
commit
959a35b3bd
5 changed files with 167 additions and 1 deletions
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  1. 7
      .ci/Jenkinsfile-SITL_tests
  2. 1
      Makefile
  3. 107
      integrationtests/python_src/px4_it/mavros/missions/MC_safe_landing.plan
  4. 51
      test/mavros_posix_test_safe_landing.test
  5. 2
      test/rostest_avoidance_run.sh

7
.ci/Jenkinsfile-SITL_tests
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@ -93,6 +93,13 @@ pipeline {
vehicle: "iris_obs_avoid", vehicle: "iris_obs_avoid",
run_script: "rostest_avoidance_run.sh" run_script: "rostest_avoidance_run.sh"
], ],
[
name: "MC_safe_landing",
test: "mavros_posix_test_safe_landing.test",
mission: "MC_safe_landing",
vehicle: "iris_obs_avoid",
run_script: "rostest_avoidance_run.sh"
],
] ]

1
Makefile
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@ -380,6 +380,7 @@ tests_offboard: rostest
tests_avoidance: rostest tests_avoidance: rostest
@"$(SRC_DIR)"/test/rostest_avoidance_run.sh mavros_posix_test_avoidance.test @"$(SRC_DIR)"/test/rostest_avoidance_run.sh mavros_posix_test_avoidance.test
@"$(SRC_DIR)"/test/rostest_avoidance_run.sh mavros_posix_test_safe_landing.test
python_coverage: python_coverage:
@mkdir -p "$(SRC_DIR)"/build/python_coverage @mkdir -p "$(SRC_DIR)"/build/python_coverage

107
integrationtests/python_src/px4_it/mavros/missions/MC_safe_landing.plan
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@ -0,0 +1,107 @@
{
"fileType": "Plan",
"geoFence": {
"circles": [
],
"polygons": [
],
"version": 2
},
"groundStation": "QGroundControl",
"mission": {
"cruiseSpeed": 15,
"firmwareType": 12,
"hoverSpeed": 5,
"items": [
{
"AMSLAltAboveTerrain": null,
"Altitude": 18,
"AltitudeMode": 1,
"autoContinue": true,
"command": 22,
"doJumpId": 1,
"frame": 3,
"params": [
15,
0,
0,
null,
47.3977394,
8.5455942,
18
],
"type": "SimpleItem"
},
{
"AMSLAltAboveTerrain": null,
"Altitude": 18,
"AltitudeMode": 1,
"autoContinue": true,
"command": 16,
"doJumpId": 2,
"frame": 3,
"params": [
0,
0,
0,
null,
47.3977394,
8.5456982,
18
],
"type": "SimpleItem"
},
{
"AMSLAltAboveTerrain": null,
"Altitude": 18,
"AltitudeMode": 1,
"autoContinue": true,
"command": 16,
"doJumpId": 3,
"frame": 3,
"params": [
0,
0,
0,
null,
47.3977432,
8.545805,
18
],
"type": "SimpleItem"
},
{
"AMSLAltAboveTerrain": null,
"Altitude": 0,
"AltitudeMode": 1,
"autoContinue": true,
"command": 21,
"doJumpId": 4,
"frame": 3,
"params": [
0,
0,
0,
null,
47.3977432,
8.545804,
0
],
"type": "SimpleItem"
}
],
"plannedHomePosition": [
47.3977419,
8.5455941,
489
],
"vehicleType": 2,
"version": 2
},
"rallyPoints": {
"points": [
],
"version": 2
},
"version": 1
}

51
test/mavros_posix_test_safe_landing.test
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@ -0,0 +1,51 @@
<?xml version="1.0"?>
<launch>
<!-- Posix SITL MAVROS integration tests -->
<!-- Test a mission -->
<arg name="est" default="ekf2"/>
<arg name="gui" default="false"/>
<arg name="interactive" default="false"/>
<arg name="mission" default="MC_safe_landing"/>
<arg name="sdf" default="$(find avoidance)/sim/models/iris_downwards_camera/iris_downwards_camera.sdf"/>
<arg name="vehicle" default="iris_obs_avoid"/>
<arg name="world" default="$(find avoidance)/sim/worlds/boxes1.world"/>
<!-- PX4 SITL and Gazebo -->
<include file="$(find px4)/launch/posix_sitl.launch">
<arg name="est" value="$(arg est)"/>
<arg name="gui" value="$(arg gui)"/>
<arg name="interactive" value="$(arg interactive)"/>
<arg name="respawn_gazebo" value="true"/>
<arg name="sdf" value="$(arg sdf)"/>
<arg name="vehicle" value="$(arg vehicle)"/>
<arg name="verbose" value="true"/>
<arg name="world" value="$(arg world)"/>
</include>
<!-- MAVROS -->
<include file="$(find mavros)/launch/node.launch">
<arg name="pluginlists_yaml" value="$(find mavros)/launch/px4_pluginlists.yaml"/>
<arg name="config_yaml" value="$(find mavros)/launch/px4_config.yaml"/>
<arg name="gcs_url" value=""/>
<arg name="fcu_url" value="udp://:14540@localhost:14557"/>
<arg name="tgt_system" value="1"/>
<arg name="tgt_component" value="1"/>
<arg name="respawn_mavros" value="true"/>
</include>
<!-- Transformation Publishers -->
<node pkg="tf" type="static_transform_publisher" name="tf_depth_camera"
args="0 0 0 1.57 3.14 0 fcu camera_link 10"/>
<!-- Suppress console outputs -->
<env name="ROSCONSOLE_CONFIG_FILE" value="$(find local_planner)/resource/custom_rosconsole.conf"/>
<!-- Launch Local Planner -->
<arg name="pointcloud_topics" default="/camera/depth/points"/>
<node name="safe_landing_planner_node" pkg="safe_landing_planner" type="safe_landing_planner_node" output="screen">
<param name="pointcloud_topics" value="$(arg pointcloud_topics)" />
</node>
<node name="waypoint_generator_node" pkg="safe_landing_planner" type="waypoint_generator_node" output="screen" >
</node>
<node name="dynparam_slpn" pkg="dynamic_reconfigure" type="dynparam" args="load safe_landing_planner_node $(find safe_landing_planner)/cfg/slpn.yaml" />
<node name="dynparam_wpgn" pkg="dynamic_reconfigure" type="dynparam" args="load waypoint_generator_node $(find safe_landing_planner)/cfg/wpgn.yaml" />
<!-- ROStest -->
<test test-name="$(arg mission)" pkg="px4" type="mission_test.py" time-limit="300.0" args="$(arg mission).plan"/>
</launch>

2
test/rostest_avoidance_run.sh
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@ -9,7 +9,7 @@ cd ${PX4_SRC_DIR}/catkin_ws/
git clone -b 0.3.0 --single-branch --depth 1 https://github.com/PX4/avoidance.git src/avoidance git clone -b 0.3.0 --single-branch --depth 1 https://github.com/PX4/avoidance.git src/avoidance
catkin init catkin init
catkin build local_planner --cmake-args -DCMAKE_BUILD_TYPE=Release catkin build local_planner safe_landing_planner --cmake-args -DCMAKE_BUILD_TYPE=Release
source ${PX4_SRC_DIR}/catkin_ws/devel/setup.bash source ${PX4_SRC_DIR}/catkin_ws/devel/setup.bash
source /usr/share/gazebo/setup.sh source /usr/share/gazebo/setup.sh

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