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#!/usr/bin/env python
PKG = 'px4'
import sys
import unittest
import rospy
from numpy import linalg
import numpy as np
from px4.msg import vehicle_local_position
from px4.msg import vehicle_control_mode
from px4.msg import actuator_armed
from px4.msg import position_setpoint_triplet
from px4.msg import position_setpoint
from sensor_msgs.msg import Joy
from std_msgs.msg import Header
from manual_input import ManualInput
from flight_path_assertion import FlightPathAssertion
class OffboardPosctlTest(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)
self.rate = rospy.Rate(10) # 10hz
#
# General callback functions used in tests
#
def position_callback(self, data):
self.hasPos = True
self.localPosition = data
def vehicle_control_mode_callback(self, data):
self.controlMode = data
#
# Helper methods
#
def is_at_position(self, x, y, z, offset):
rospy.logdebug("current position %f, %f, %f" % (self.localPosition.x, self.localPosition.y, self.localPosition.z))
desired = np.array((x, y, z))
pos = np.array((self.localPosition.x, self.localPosition.y, self.localPosition.z))
return linalg.norm(desired - pos) < offset
def reach_position(self, x, y, z, timeout):
# set a position setpoint
pos = position_setpoint()
pos.valid = True
pos.x = x
pos.y = y
pos.z = z
pos.position_valid = True
stp = position_setpoint_triplet()
stp.current = pos
self.pubSpt.publish(stp)
# does it reach the position in X seconds?
count = 0
while(count < timeout):
if(self.is_at_position(pos.x, pos.y, pos.z, 0.5)):
break
count = count + 1
self.rate.sleep()
self.assertTrue(count < timeout, "took too long to get to position")
#
# Test offboard POSCTL
#
def test_posctl(self):
manIn = ManualInput()
# arm and go into offboard
manIn.arm()
manIn.offboard()
self.assertTrue(self.controlMode.flag_armed, "flag_armed is not set")
self.assertTrue(self.controlMode.flag_control_offboard_enabled, "flag_control_offboard_enabled is not set")
self.assertTrue(self.controlMode.flag_control_position_enabled, "flag_control_position_enabled is not set")
# prepare flight path assertion
fpa = FlightPathAssertion(
(
(0,0,0),
(2,2,-2),
(2,-2,-2),
(-2,-2,-2),
(2,2,-2),
), 0.5, 0)
fpa.start()
self.reach_position(2, 2, -2, 120)
self.reach_position(2, -2, -2, 120)
self.reach_position(-2, -2, -2, 120)
self.reach_position(2, 2, -2, 120)
# does it hold the position for Y seconds?
positionHeld = True
count = 0
timeout = 50
while(count < timeout):
if(not self.is_at_position(2, 2, -2, 0.5)):
positionHeld = False
break
count = count + 1
self.rate.sleep()
self.assertTrue(count == timeout, "position could not be held")
fpa.stop()
if __name__ == '__main__':
import rostest
rostest.rosrun(PKG, 'posctl_test', OffboardPosctlTest)
#unittest.main()
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