update namespace in mavros tests

integrationtests/demo_tests/direct_manual_input_test.py

@@ -64,8 +64,8 @@ class ManualInputTest(unittest.TestCase):
     #
     def test_manual_input(self):
         rospy.init_node('test_node', anonymous=True)
-        rospy.Subscriber('px4_multicopter/actuator_armed', actuator_armed, self.actuator_armed_callback)
-        rospy.Subscriber('px4_multicopter/vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback)
+        rospy.Subscriber('iris/actuator_armed', actuator_armed, self.actuator_armed_callback)
+        rospy.Subscriber('iris/vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback)
 
         man = ManualInput()
 

integrationtests/demo_tests/direct_offboard_posctl_test.py

@@ -66,9 +66,9 @@ class DirectOffboardPosctlTest(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)
+        rospy.Subscriber('iris/vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback)
+        rospy.Subscriber("iris/vehicle_local_position", vehicle_local_position, self.position_callback)
+        self.pubSpt = rospy.Publisher('iris/position_setpoint_triplet', position_setpoint_triplet, queue_size=10)
         self.rate = rospy.Rate(10) # 10hz
 
     def tearDown(self):

integrationtests/demo_tests/manual_input.py

@@ -54,8 +54,8 @@ class ManualInput:
 
     def __init__(self):
         rospy.init_node('test_node', anonymous=True)
-        self.pubMcsp = rospy.Publisher('px4_multicopter/manual_control_setpoint', manual_control_setpoint, queue_size=10)
-        self.pubOff = rospy.Publisher('px4_multicopter/offboard_control_mode', offboard_control_mode, queue_size=10)
+        self.pubMcsp = rospy.Publisher('iris/manual_control_setpoint', manual_control_setpoint, queue_size=10)
+        self.pubOff = rospy.Publisher('iris/offboard_control_mode', offboard_control_mode, queue_size=10)
         self.pubAtt = rospy.Publisher('iris/command/attitude', CommandAttitudeThrust, queue_size=10)
 
     def arm(self):
@@ -85,7 +85,7 @@ class ManualInput:
             # Fake input to iris commander
             self.pubAtt.publish(att)
             rate.sleep()
-            count = count + 1 
+            count = count + 1
 
         pos.r = 1
         count = 0

integrationtests/demo_tests/mavros_offboard_attctl_test.py

@@ -65,12 +65,12 @@ class MavrosOffboardAttctlTest(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.pubAtt = rospy.Publisher('mavros/setpoint/attitude', PoseStamped, queue_size=10)
-        self.pubThr = rospy.Publisher('mavros/setpoint/att_throttle', Float64, queue_size=10)
-        self.cmdArm = rospy.ServiceProxy("mavros/cmd/arming", CommandBool)
+        rospy.wait_for_service('iris/mavros/cmd/arming', 30)
+        rospy.Subscriber('iris/vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback)
+        rospy.Subscriber("iris/mavros/position/local", PoseStamped, self.position_callback)
+        self.pubAtt = rospy.Publisher('iris/mavros/setpoint/attitude', PoseStamped, queue_size=10)
+        self.pubThr = rospy.Publisher('iris/mavros/setpoint/att_throttle', Float64, queue_size=10)
+        self.cmdArm = rospy.ServiceProxy("iris/mavros/cmd/arming", CommandBool)
         self.rate = rospy.Rate(10) # 10hz
         self.rateSec = rospy.Rate(1)
         self.hasPos = False
@@ -109,7 +109,7 @@ class MavrosOffboardAttctlTest(unittest.TestCase):
 
         # set some attitude and thrust
         att = PoseStamped()
-        att.header = Header() 
+        att.header = Header()
         att.header.frame_id = "base_footprint"
         att.header.stamp = rospy.Time.now()
         quaternion = quaternion_from_euler(0.15, 0.15, 0)
@@ -126,7 +126,7 @@ class MavrosOffboardAttctlTest(unittest.TestCase):
             att.header.stamp = rospy.Time.now()
             self.pubAtt.publish(att)
             self.pubThr.publish(throttle)
-            
+
             if (self.localPosition.pose.position.x > 5
                 and self.localPosition.pose.position.z > 5
                 and self.localPosition.pose.position.y < -5):
@@ -135,7 +135,7 @@ class MavrosOffboardAttctlTest(unittest.TestCase):
             self.rate.sleep()
 
         self.assertTrue(count < timeout, "took too long to cross boundaries")
-    
+
 
 if __name__ == '__main__':
     import rostest

integrationtests/demo_tests/mavros_offboard_posctl_test.py

@@ -64,11 +64,11 @@ 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)
+        rospy.wait_for_service('iris/mavros/cmd/arming', 30)
+        rospy.Subscriber('iris/vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback)
+        rospy.Subscriber("iris/mavros/position/local", PoseStamped, self.position_callback)
+        self.pubSpt = rospy.Publisher('iris/mavros/setpoint/local_position', PoseStamped, queue_size=10)
+        self.cmdArm = rospy.ServiceProxy("iris/mavros/cmd/arming", CommandBool)
         self.rate = rospy.Rate(10) # 10hz
         self.rateSec = rospy.Rate(1)
         self.hasPos = False
@@ -100,7 +100,7 @@ class MavrosOffboardPosctlTest(unittest.TestCase):
     def reach_position(self, x, y, z, timeout):
         # set a position setpoint
         pos = PoseStamped()
-        pos.header = Header() 
+        pos.header = Header()
         pos.header.frame_id = "base_footprint"
         pos.pose.position.x = x
         pos.pose.position.y = y
@@ -118,7 +118,7 @@ class MavrosOffboardPosctlTest(unittest.TestCase):
             # 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
@@ -153,7 +153,7 @@ class MavrosOffboardPosctlTest(unittest.TestCase):
 
         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
@@ -166,7 +166,7 @@ class MavrosOffboardPosctlTest(unittest.TestCase):
             self.rate.sleep()
 
         self.assertTrue(count == timeout, "position could not be held")
-    
+
 
 if __name__ == '__main__':
     import rostest

integrationtests/demo_tests/mavros_tests.launch

@@ -3,7 +3,8 @@
     <arg name="gui" default="false"/>
     <arg name="enable_logging" default="false"/>
     <arg name="enable_ground_truth" default="false"/>
-    <arg name="log_file" default="iris"/>
+    <arg name="ns" default="iris"/>
+    <arg name="log_file" default="$(arg ns)"/>
 
     <include file="$(find px4)/launch/gazebo_iris_empty_world.launch">
         <arg name="headless" value="$(arg headless)"/>
@@ -11,8 +12,11 @@
         <arg name="enable_logging" value="$(arg enable_logging)" />
         <arg name="enable_ground_truth" value="$(arg enable_ground_truth)" />
         <arg name="log_file" value="$(arg log_file)"/>
+	<arg name="ns" value="$(arg ns)"/>
+    </include>
+    <include file="$(find px4)/launch/mavros_sitl.launch">
+	<arg name="ns" value="$(arg ns)"/>
     </include>
-    <include file="$(find px4)/launch/mavros_sitl.launch" />
 
     <test test-name="mavros_offboard_posctl_test" pkg="px4" type="mavros_offboard_posctl_test.py" />
     <test test-name="mavros_offboard_attctl_test" pkg="px4" type="mavros_offboard_attctl_test.py" />