diff options
author | Andreas Daniel Antener <antener_a@gmx.ch> | 2015-04-08 14:06:38 +0200 |
---|---|---|
committer | Andreas Daniel Antener <antener_a@gmx.ch> | 2015-04-08 14:06:38 +0200 |
commit | 2d944490760117d90c92fed88edad164451a606a (patch) | |
tree | d70654ca9399453dee384aed56237bd14494fe75 | |
parent | f8c8876642857520e85ec8ca027146c11b4301e3 (diff) | |
parent | 120fca61ad2fde5a8967f7dc554d8bd05499593a (diff) | |
download | px4-firmware-2d944490760117d90c92fed88edad164451a606a.tar.gz px4-firmware-2d944490760117d90c92fed88edad164451a606a.tar.bz2 px4-firmware-2d944490760117d90c92fed88edad164451a606a.zip |
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)) { } |