Merge pull request #1988 from UAVenture/mavros_update

MAVROS update for SITL, updated tests and demo nodes

11 files changed, 39 insertions, 35 deletions

diff --git a/integrationtests/demo_tests/direct_manual_input_test.py b/integrationtests/demo_tests/direct_manual_input_test.py
index 394500e94..e5d288767 100755
--- a/integrationtests/demo_tests/direct_manual_input_test.py
+++ b/integrationtests/demo_tests/direct_manual_input_test.py
@@ -67,8 +67,8 @@ class ManualInputTest(unittest.TestCase):
     #
     def test_manual_input(self):
         rospy.init_node('test_node', anonymous=True)
-        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)
+        rospy.Subscriber('actuator_armed', actuator_armed, self.actuator_armed_callback)
+        rospy.Subscriber('vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback)
 
         man_in = ManualInput()
 
diff --git a/integrationtests/demo_tests/direct_offboard_posctl_test.py b/integrationtests/demo_tests/direct_offboard_posctl_test.py
index 734bcf590..9a6c4af78 100755
--- a/integrationtests/demo_tests/direct_offboard_posctl_test.py
+++ b/integrationtests/demo_tests/direct_offboard_posctl_test.py
@@ -68,9 +68,9 @@ class DirectOffboardPosctlTest(unittest.TestCase):
         self.helper = PX4TestHelper("direct_offboard_posctl_test")
         self.helper.setUp()
 
-        rospy.Subscriber('iris/vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback)
-        self.sub_vlp = rospy.Subscriber("iris/vehicle_local_position", vehicle_local_position, self.position_callback)
-        self.pub_spt = rospy.Publisher('iris/position_setpoint_triplet', position_setpoint_triplet, queue_size=10)
+        rospy.Subscriber('vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback)
+        self.sub_vlp = rospy.Subscriber("vehicle_local_position", vehicle_local_position, self.position_callback)
+        self.pub_spt = rospy.Publisher('position_setpoint_triplet', position_setpoint_triplet, queue_size=10)
         self.rate = rospy.Rate(10) # 10hz
         self.has_pos = False
         self.local_position = vehicle_local_position()
diff --git a/integrationtests/demo_tests/direct_tests.launch b/integrationtests/demo_tests/direct_tests.launch
index f332332cf..04ba8a54d 100644
--- a/integrationtests/demo_tests/direct_tests.launch
+++ b/integrationtests/demo_tests/direct_tests.launch
@@ -3,7 +3,8 @@
     <arg name="gui" default="false"/>
     <arg name="enable_logging" default="false"/>
     <arg name="enable_ground_truth" default="true"/>
-    <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>
 
-    <test test-name="direct_manual_input_test" pkg="px4" type="direct_manual_input_test.py" />
-    <test test-name="direct_offboard_posctl_test" pkg="px4" type="direct_offboard_posctl_test.py" />
+    <group ns="$(arg ns)">
+        <test test-name="direct_manual_input_test" pkg="px4" type="direct_manual_input_test.py" />
+        <test test-name="direct_offboard_posctl_test" pkg="px4" type="direct_offboard_posctl_test.py" />
+    </group>
 </launch>
diff --git a/integrationtests/demo_tests/flight_path_assertion.py b/integrationtests/demo_tests/flight_path_assertion.py
index 244324cd0..7de82cc84 100644
--- a/integrationtests/demo_tests/flight_path_assertion.py
+++ b/integrationtests/demo_tests/flight_path_assertion.py
@@ -62,10 +62,10 @@ class FlightPathAssertion(threading.Thread):
     #
     def __init__(self, positions, tunnelRadius=1, yaw_offset=0.2):
         threading.Thread.__init__(self)
-        rospy.Subscriber("iris/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)
+        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
diff --git a/integrationtests/demo_tests/manual_input.py b/integrationtests/demo_tests/manual_input.py
index 167221285..b7adaa31c 100755
--- a/integrationtests/demo_tests/manual_input.py
+++ b/integrationtests/demo_tests/manual_input.py
@@ -49,8 +49,8 @@ class ManualInput(object):
 
     def __init__(self):
         rospy.init_node('test_node', anonymous=True)
-        self.pub_mcsp = rospy.Publisher('iris/manual_control_setpoint', manual_control_setpoint, queue_size=10)
-        self.pub_off = rospy.Publisher('iris/offboard_control_mode', offboard_control_mode, queue_size=10)
+        self.pub_mcsp = rospy.Publisher('manual_control_setpoint', manual_control_setpoint, queue_size=10)
+        self.pub_off = rospy.Publisher('offboard_control_mode', offboard_control_mode, queue_size=10)
 
     def arm(self):
         rate = rospy.Rate(10) # 10hz
diff --git a/integrationtests/demo_tests/mavros_offboard_attctl_test.py b/integrationtests/demo_tests/mavros_offboard_attctl_test.py
index ef875ce61..7329c1efc 100755
--- a/integrationtests/demo_tests/mavros_offboard_attctl_test.py
+++ b/integrationtests/demo_tests/mavros_offboard_attctl_test.py
@@ -61,14 +61,14 @@ class MavrosOffboardAttctlTest(unittest.TestCase):
 
     def setUp(self):
         rospy.init_node('test_node', anonymous=True)
-        rospy.wait_for_service('iris/mavros/cmd/arming', 30)
+        rospy.wait_for_service('mavros/cmd/arming', 30)
         self.helper = PX4TestHelper("mavros_offboard_attctl_test")
         self.helper.setUp()
 
-        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.pub_att = rospy.Publisher('iris/mavros/setpoint/attitude', PoseStamped, queue_size=10)
-        self.pub_thr = rospy.Publisher('iris/mavros/setpoint/att_throttle', Float64, queue_size=10)
+        rospy.Subscriber('vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback)
+        rospy.Subscriber("mavros/local_position/local", PoseStamped, self.position_callback)
+        self.pub_att = rospy.Publisher('mavros/setpoint_attitude/attitude', PoseStamped, queue_size=10)
+        self.pub_thr = rospy.Publisher('mavros/setpoint_attitude/att_throttle', Float64, queue_size=10)
         self.rate = rospy.Rate(10) # 10hz
         self.has_pos = False
         self.control_mode = vehicle_control_mode()
@@ -110,9 +110,9 @@ class MavrosOffboardAttctlTest(unittest.TestCase):
             att.header.stamp = rospy.Time.now()
 
             self.pub_att.publish(att)
-            self.helper.bag_write('mavros/setpoint/attitude', att)
+            self.helper.bag_write('mavros/setpoint_attitude/attitude', att)
             self.pub_thr.publish(throttle)
-            self.helper.bag_write('mavros/setpoint/att_throttle', throttle)
+            self.helper.bag_write('mavros/setpoint_attitude/att_throttle', throttle)
             self.rate.sleep()
 
             if (self.local_position.pose.position.x > 5
diff --git a/integrationtests/demo_tests/mavros_offboard_posctl_test.py b/integrationtests/demo_tests/mavros_offboard_posctl_test.py
index 1383cd04c..58e7ae2ed 100755
--- a/integrationtests/demo_tests/mavros_offboard_posctl_test.py
+++ b/integrationtests/demo_tests/mavros_offboard_posctl_test.py
@@ -67,9 +67,9 @@ class MavrosOffboardPosctlTest(unittest.TestCase):
         self.helper = PX4TestHelper("mavros_offboard_posctl_test")
         self.helper.setUp()
 
-        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.pub_spt = rospy.Publisher('iris/mavros/setpoint/local_position', PoseStamped, queue_size=10)
+        rospy.Subscriber('vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback)
+        rospy.Subscriber("mavros/local_position/local", PoseStamped, self.position_callback)
+        self.pub_spt = rospy.Publisher('mavros/setpoint_position/local', PoseStamped, queue_size=10)
         self.rate = rospy.Rate(10) # 10hz
         self.has_pos = False
         self.local_position = PoseStamped()
@@ -128,7 +128,7 @@ class MavrosOffboardPosctlTest(unittest.TestCase):
             # update timestamp for each published SP
             pos.header.stamp = rospy.Time.now()
             self.pub_spt.publish(pos)
-            self.helper.bag_write('mavros/setpoint/local_position', pos)
+            self.helper.bag_write('mavros/setpoint_position/local', pos)
 
             if self.is_at_position(pos.pose.position.x, pos.pose.position.y, pos.pose.position.z, 0.5):
                 break
diff --git a/integrationtests/demo_tests/mavros_tests.launch b/integrationtests/demo_tests/mavros_tests.launch
index cc4918307..cdafc967c 100644
--- a/integrationtests/demo_tests/mavros_tests.launch
+++ b/integrationtests/demo_tests/mavros_tests.launch
@@ -12,12 +12,14 @@
         <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)"/>
+        <arg name="ns" value="$(arg ns)"/>
     </include>
     <include file="$(find px4)/launch/mavros_sitl.launch">
-	<arg name="ns" value="$(arg ns)"/>
+        <arg name="ns" value="$(arg ns)"/>
     </include>
 
-    <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" />
+    <group ns="$(arg ns)">
+        <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" />
+    </group>
 </launch>
diff --git a/launch/mavros_sitl.launch b/launch/mavros_sitl.launch
index 7362fa464..f452f0945 100644
--- a/launch/mavros_sitl.launch
+++ b/launch/mavros_sitl.launch
@@ -9,10 +9,8 @@
 	<arg name="tgt_system" default="1" />
 	<arg name="tgt_component" default="50" />
 
-	<param name="mavros/setpoint/attitude/listen_twist" type="bool" value="false" />
-
 	<include file="$(find mavros)/launch/node.launch">
-		<arg name="blacklist_yaml" value="$(find mavros)/launch/px4_blacklist.yaml" />
+		<arg name="pluginlists_yaml" value="$(find mavros)/launch/px4_pluginlists.yaml" />
 		<arg name="config_yaml" value="$(find mavros)/launch/px4_config.yaml" />
 
 		<arg name="fcu_url" value="$(arg fcu_url)" />
diff --git a/src/platforms/ros/nodes/demo_offboard_attitude_setpoints/demo_offboard_attitude_setpoints.cpp b/src/platforms/ros/nodes/demo_offboard_attitude_setpoints/demo_offboard_attitude_setpoints.cpp
index fb0b09de1..328f545c6 100644
--- a/src/platforms/ros/nodes/demo_offboard_attitude_setpoints/demo_offboard_attitude_setpoints.cpp
+++ b/src/platforms/ros/nodes/demo_offboard_attitude_setpoints/demo_offboard_attitude_setpoints.cpp
@@ -49,8 +49,8 @@
 
 DemoOffboardAttitudeSetpoints::DemoOffboardAttitudeSetpoints() :
 	_n(),
-	_attitude_sp_pub(_n.advertise<geometry_msgs::PoseStamped>("mavros/setpoint/attitude", 1)),
-	_thrust_sp_pub(_n.advertise<std_msgs::Float64>("mavros/setpoint/att_throttle", 1))
+	_attitude_sp_pub(_n.advertise<geometry_msgs::PoseStamped>("mavros/setpoint_attitude/attitude", 1)),
+	_thrust_sp_pub(_n.advertise<std_msgs::Float64>("mavros/setpoint_attitude/att_throttle", 1))
 {
 }
 
diff --git a/src/platforms/ros/nodes/demo_offboard_position_setpoints/demo_offboard_position_setpoints.cpp b/src/platforms/ros/nodes/demo_offboard_position_setpoints/demo_offboard_position_setpoints.cpp
index 125ceaddc..8a626f255 100644
--- a/src/platforms/ros/nodes/demo_offboard_position_setpoints/demo_offboard_position_setpoints.cpp
+++ b/src/platforms/ros/nodes/demo_offboard_position_setpoints/demo_offboard_position_setpoints.cpp
@@ -46,7 +46,7 @@
 
 DemoOffboardPositionSetpoints::DemoOffboardPositionSetpoints() :
 	_n(),
-	_local_position_sp_pub(_n.advertise<geometry_msgs::PoseStamped>("mavros/setpoint/local_position", 1))
+	_local_position_sp_pub(_n.advertise<geometry_msgs::PoseStamped>("mavros/setpoint_position/local", 1))
 {
 }