You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
197 lines
7.3 KiB
197 lines
7.3 KiB
#!/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 |
|
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
|
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
|
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
|
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
|
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
|
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
|
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
|
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
|
# POSSIBILITY OF SUCH DAMAGE. |
|
# |
|
#***************************************************************************/ |
|
|
|
# |
|
# @author Andreas Antener <andreas@uaventure.com> |
|
# |
|
import rospy |
|
import threading |
|
|
|
from px4.msg import vehicle_local_position |
|
from gazebo_msgs.srv import SpawnModel |
|
from gazebo_msgs.srv import SetModelState |
|
from gazebo_msgs.srv import DeleteModel |
|
from geometry_msgs.msg import Pose |
|
from geometry_msgs.msg import Twist |
|
|
|
from numpy import linalg |
|
import numpy as np |
|
|
|
# |
|
# Helper to test if vehicle stays on expected flight path. |
|
# |
|
class FlightPathAssertion(threading.Thread): |
|
|
|
# |
|
# Arguments |
|
# - positions: tuple of tuples in the form (x, y, z, heading) |
|
# |
|
# TODO: yaw validation |
|
# TODO: fail main test thread |
|
# |
|
def __init__(self, positions, tunnelRadius=1, yaw_offset=0.2): |
|
threading.Thread.__init__(self) |
|
rospy.Subscriber("vehicle_local_position", vehicle_local_position, self.position_callback) |
|
self.spawn_model = rospy.ServiceProxy('/gazebo/spawn_sdf_model', SpawnModel) |
|
self.set_model_state = rospy.ServiceProxy('/gazebo/set_model_state', SetModelState) |
|
self.delete_model = rospy.ServiceProxy('/gazebo/delete_model', DeleteModel) |
|
|
|
self.positions = positions |
|
self.tunnel_radius = tunnelRadius |
|
self.yaw_offset = yaw_offset |
|
self.has_pos = False |
|
self.should_stop = False |
|
self.center = positions[0] |
|
self.end_of_segment = False |
|
self.failed = False |
|
self.local_position = vehicle_local_position |
|
|
|
def position_callback(self, data): |
|
self.has_pos = True |
|
self.local_position = data |
|
|
|
def spawn_indicator(self): |
|
self.delete_model("indicator") |
|
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.tunnel_radius |
|
|
|
self.spawn_model("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.set_model_state(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.end_of_segment = 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.should_stop = True |
|
|
|
def run(self): |
|
rate = rospy.Rate(10) # 10hz |
|
self.spawn_indicator() |
|
|
|
current = 0 |
|
count = 0 |
|
while not self.should_stop: |
|
if self.has_pos: |
|
# calculate distance to line segment between first two points |
|
# if distances > tunnel_radius |
|
# exit with error |
|
# advance current pos if not on the line anymore or distance to next point < tunnel_radius |
|
# exit if current pos is now the last position |
|
|
|
self.position_indicator() |
|
|
|
pos = np.array((self.local_position.x, |
|
self.local_position.y, |
|
self.local_position.z)) |
|
a_pos = np.array((self.positions[current][0], |
|
self.positions[current][1], |
|
self.positions[current][2])) |
|
b_pos = np.array((self.positions[current + 1][0], |
|
self.positions[current + 1][1], |
|
self.positions[current + 1][2])) |
|
|
|
dist = self.distance_to_line(a_pos, b_pos, pos) |
|
b_dist = linalg.norm(pos - b_pos) |
|
|
|
rospy.logdebug("distance to line: %f, distance to end: %f" % (dist, b_dist)) |
|
|
|
if dist > self.tunnel_radius: |
|
msg = "left tunnel at position (%f, %f, %f)" % (self.local_position.x, self.local_position.y, self.local_position.z) |
|
rospy.logerr(msg) |
|
self.failed = True |
|
break |
|
|
|
if self.end_of_segment or b_dist < self.tunnel_radius: |
|
rospy.loginfo("next segment") |
|
self.end_of_segment = False |
|
current = current + 1 |
|
|
|
if current == len(self.positions) - 1: |
|
rospy.loginfo("no more positions") |
|
break |
|
|
|
rate.sleep() |
|
count = count + 1 |
|
|
|
if count > 10 and not self.has_pos: # no position after 1 sec |
|
rospy.logerr("no position") |
|
self.failed = True |
|
break
|
|
|