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author | Andreas Antener <antener_a@gmx.ch> | 2015-03-01 23:56:05 +0100 |
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committer | Andreas Antener <antener_a@gmx.ch> | 2015-03-02 00:18:34 +0100 |
commit | 9252124cfc84ad31f4a88d937343c7e5682e3339 (patch) | |
tree | a9c40866f9777ed218d6678e8393a5864a529304 /integrationtests | |
parent | edfbde1505456e89d79c11be5c8780a1219cce30 (diff) | |
download | px4-firmware-9252124cfc84ad31f4a88d937343c7e5682e3339.tar.gz px4-firmware-9252124cfc84ad31f4a88d937343c7e5682e3339.tar.bz2 px4-firmware-9252124cfc84ad31f4a88d937343c7e5682e3339.zip |
- updated test names, fixed lying comments and updated notes, misc. cleanup
- added mavros attitude control test
- using manual arming for mavros tests so they succeed for the moment, arming should be implemented soon
Diffstat (limited to 'integrationtests')
-rwxr-xr-x | integrationtests/demo_tests/direct_manual_input_test.py (renamed from integrationtests/demo_tests/direct_arm_test.py) | 30 | ||||
-rwxr-xr-x | integrationtests/demo_tests/direct_offboard_posctl_test.py | 15 | ||||
-rw-r--r-- | integrationtests/demo_tests/direct_tests.launch | 4 | ||||
-rw-r--r-- | integrationtests/demo_tests/flight_path_assertion.py | 2 | ||||
-rwxr-xr-x | integrationtests/demo_tests/manual_input.py | 14 | ||||
-rwxr-xr-x | integrationtests/demo_tests/mavros_offboard_attctl_test.py | 142 | ||||
-rwxr-xr-x | integrationtests/demo_tests/mavros_offboard_posctl_test.py | 25 | ||||
-rw-r--r-- | integrationtests/demo_tests/mavros_tests.launch | 1 |
8 files changed, 206 insertions, 27 deletions
diff --git a/integrationtests/demo_tests/direct_arm_test.py b/integrationtests/demo_tests/direct_manual_input_test.py index 238f2d7e0..6d115316b 100755 --- a/integrationtests/demo_tests/direct_arm_test.py +++ b/integrationtests/demo_tests/direct_manual_input_test.py @@ -42,32 +42,46 @@ import unittest import rospy from px4.msg import actuator_armed +from px4.msg import vehicle_control_mode from manual_input import ManualInput -class ArmTest(unittest.TestCase): +# +# Tests if commander reacts to manual input and sets control flags accordingly +# +class ManualInputTest(unittest.TestCase): # # General callback functions used in tests # def actuator_armed_callback(self, data): self.actuatorStatus = data + + def vehicle_control_mode_callback(self, data): + self.controlMode = data # # Test arming # - def test_arm(self): + def test_manual_input(self): rospy.init_node('test_node', anonymous=True) - sub = rospy.Subscriber('px4_multicopter/actuator_armed', actuator_armed, self.actuator_armed_callback) + 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) - # method to test - arm = ManualInput() - arm.arm() + man = ManualInput() - self.assertEquals(self.actuatorStatus.armed, True, "not armed") + # Test arming + man.arm() + self.assertEquals(self.actuatorStatus.armed, True, "did not arm") + # Test posctl + man.posctl() + self.assertTrue(self.controlMode.flag_control_position_enabled, "flag_control_position_enabled is not set") + # Test offboard + man.offboard() + self.assertTrue(self.controlMode.flag_control_offboard_enabled, "flag_control_offboard_enabled is not set") if __name__ == '__main__': import rostest - rostest.rosrun(PKG, 'arm_test', ArmTest) + rostest.rosrun(PKG, 'direct_manual_input_test', ManualInputTest) diff --git a/integrationtests/demo_tests/direct_offboard_posctl_test.py b/integrationtests/demo_tests/direct_offboard_posctl_test.py index 42667757b..0db4fd131 100755 --- a/integrationtests/demo_tests/direct_offboard_posctl_test.py +++ b/integrationtests/demo_tests/direct_offboard_posctl_test.py @@ -55,7 +55,13 @@ from std_msgs.msg import Header from manual_input import ManualInput from flight_path_assertion import FlightPathAssertion - +# +# Tests flying a path in offboard control by directly sending setpoints +# to the position controller (position_setpoint_triplet). +# +# For the test to be successful it needs to stay on the predefined path +# and reach all setpoints in a certain time. +# class OffboardPosctlTest(unittest.TestCase): def setUp(self): @@ -112,7 +118,7 @@ class OffboardPosctlTest(unittest.TestCase): self.assertTrue(count < timeout, "took too long to get to position") # - # Test offboard POSCTL + # Test offboard position control # def test_posctl(self): manIn = ManualInput() @@ -124,7 +130,7 @@ class OffboardPosctlTest(unittest.TestCase): 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 + # prepare flight path positions = ( (0,0,0), (2,2,-2), @@ -132,6 +138,7 @@ class OffboardPosctlTest(unittest.TestCase): (-2,-2,-2), (2,2,-2)) + # flight path assertion self.fpa = FlightPathAssertion(positions, 1, 0) self.fpa.start() @@ -156,5 +163,5 @@ class OffboardPosctlTest(unittest.TestCase): if __name__ == '__main__': import rostest - rostest.rosrun(PKG, 'posctl_test', OffboardPosctlTest) + rostest.rosrun(PKG, 'direct_offboard_posctl_test', OffboardPosctlTest) #unittest.main() diff --git a/integrationtests/demo_tests/direct_tests.launch b/integrationtests/demo_tests/direct_tests.launch index d871c085c..1a7d843fd 100644 --- a/integrationtests/demo_tests/direct_tests.launch +++ b/integrationtests/demo_tests/direct_tests.launch @@ -13,6 +13,6 @@ <arg name="log_file" value="$(arg log_file)"/> </include> - <test test-name="direct_arm" pkg="px4" type="direct_arm_test.py" /> - <test test-name="direct_offboard_posctl" pkg="px4" type="direct_offboard_posctl_test.py" /> + <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" /> </launch> diff --git a/integrationtests/demo_tests/flight_path_assertion.py b/integrationtests/demo_tests/flight_path_assertion.py index 1f5bf01fc..485de8c41 100644 --- a/integrationtests/demo_tests/flight_path_assertion.py +++ b/integrationtests/demo_tests/flight_path_assertion.py @@ -51,7 +51,7 @@ import numpy as np import math # -# Helper to test if vehicle stays in expected flight path. +# Helper to test if vehicle stays on expected flight path. # class FlightPathAssertion(threading.Thread): diff --git a/integrationtests/demo_tests/manual_input.py b/integrationtests/demo_tests/manual_input.py index 55911bede..cf139bb1d 100755 --- a/integrationtests/demo_tests/manual_input.py +++ b/integrationtests/demo_tests/manual_input.py @@ -45,7 +45,7 @@ from std_msgs.msg import Header # # Manual input control helper # -# Note: this is not the way to do it. ATM it fakes input to iris/command/attitude because else +# FIXME: this is not the way to do it! ATM it fakes input to iris/command/attitude because else # the simulator does not instantiate our controller. # class ManualInput: @@ -74,7 +74,7 @@ class ManualInput: pos.offboard_switch = 3 count = 0 - while not rospy.is_shutdown() and count < 10: + while not rospy.is_shutdown() and count < 5: rospy.loginfo("zeroing") time = rospy.get_rostime().now() pos.timestamp = time.secs * 1e6 + time.nsecs / 1000 @@ -86,7 +86,7 @@ class ManualInput: pos.r = 1 count = 0 - while not rospy.is_shutdown() and count < 10: + while not rospy.is_shutdown() and count < 5: rospy.loginfo("arming") time = rospy.get_rostime().now() pos.timestamp = time.secs * 1e6 + time.nsecs / 1000 @@ -111,7 +111,7 @@ class ManualInput: pos.offboard_switch = 3 count = 0 - while not rospy.is_shutdown() and count < 10: + while not rospy.is_shutdown() and count < 5: rospy.loginfo("triggering posctl") time = rospy.get_rostime().now() pos.timestamp = time.secs * 1e6 + time.nsecs / 1000 @@ -122,7 +122,7 @@ class ManualInput: def offboard(self): rate = rospy.Rate(10) # 10hz - # triggers posctl + # triggers offboard pos = manual_control_setpoint() pos.x = 0 pos.z = 0 @@ -136,8 +136,8 @@ class ManualInput: pos.offboard_switch = 1 count = 0 - while not rospy.is_shutdown() and count < 10: - rospy.loginfo("triggering posctl") + while not rospy.is_shutdown() and count < 5: + rospy.loginfo("triggering offboard") time = rospy.get_rostime().now() pos.timestamp = time.secs * 1e6 + time.nsecs / 1000 self.pubMcsp.publish(pos) diff --git a/integrationtests/demo_tests/mavros_offboard_attctl_test.py b/integrationtests/demo_tests/mavros_offboard_attctl_test.py new file mode 100755 index 000000000..2f568adc9 --- /dev/null +++ b/integrationtests/demo_tests/mavros_offboard_attctl_test.py @@ -0,0 +1,142 @@ +#!/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> +# +PKG = 'px4' + +import sys +import unittest +import rospy +import math + +from numpy import linalg +import numpy as np + +from px4.msg import vehicle_control_mode +from std_msgs.msg import Header +from std_msgs.msg import Float64 +from geometry_msgs.msg import PoseStamped, Quaternion +from tf.transformations import quaternion_from_euler +from mavros.srv import CommandBool + +from manual_input import ManualInput + +# +# Tests flying a path in offboard control by sending position setpoints +# over MAVROS. +# +# For the test to be successful it needs to reach all setpoints in a certain time. +# FIXME: add flight path assertion (needs transformation from ROS frame to NED) +# +class OffboardAttctlTest(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) + self.rate = rospy.Rate(10) # 10hz + self.rateSec = rospy.Rate(1) + self.hasPos = False + self.controlMode = vehicle_control_mode() + + # + # 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 arm(self): + return self.cmdArm(value=True) + + # + # Test offboard position control + # + def test_attctl(self): + # FIXME: this must go ASAP when arming is implemented + manIn = ManualInput() + manIn.arm() + + self.assertTrue(self.arm(), "Could not arm") + self.rateSec.sleep() + self.rateSec.sleep() + self.assertTrue(self.controlMode.flag_armed, "flag_armed is not set after 2 seconds") + + # set some attitude and thrust + att = PoseStamped() + att.header = Header() + att.header.frame_id = "base_footprint" + att.header.stamp = rospy.Time.now() + quaternion = quaternion_from_euler(0.2, 0.2, 0) + att.pose.orientation = Quaternion(*quaternion) + + throttle = Float64() + throttle.data = 0.6 + + # does it cross expected boundaries in X seconds? + count = 0 + timeout = 120 + while(count < timeout): + # update timestamp for each published SP + 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): + break + count = count + 1 + self.rate.sleep() + + self.assertTrue(count < timeout, "took too long to cross boundaries") + + +if __name__ == '__main__': + import rostest + rostest.rosrun(PKG, 'mavros_offboard_attctl_test', OffboardAttctlTest) + #unittest.main() diff --git a/integrationtests/demo_tests/mavros_offboard_posctl_test.py b/integrationtests/demo_tests/mavros_offboard_posctl_test.py index 14c7d6c19..09ca5d9fd 100755 --- a/integrationtests/demo_tests/mavros_offboard_posctl_test.py +++ b/integrationtests/demo_tests/mavros_offboard_posctl_test.py @@ -51,12 +51,21 @@ from geometry_msgs.msg import PoseStamped, Quaternion from tf.transformations import quaternion_from_euler from mavros.srv import CommandBool +from manual_input import ManualInput + +# +# Tests flying a path in offboard control by sending position setpoints +# over MAVROS. +# +# For the test to be successful it needs to reach all setpoints in a certain time. +# FIXME: add flight path assertion (needs transformation from ROS frame to NED) +# class OffboardPosctlTest(unittest.TestCase): def setUp(self): rospy.init_node('test_node', anonymous=True) rospy.wait_for_service('mavros/cmd/arming', 30) - rospy.Subscriber('vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback) + 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) @@ -93,7 +102,6 @@ class OffboardPosctlTest(unittest.TestCase): pos = PoseStamped() pos.header = Header() pos.header.frame_id = "base_footprint" - pos.header.stamp = rospy.Time.now() pos.pose.position.x = x pos.pose.position.y = y pos.pose.position.z = z @@ -107,6 +115,8 @@ class OffboardPosctlTest(unittest.TestCase): # does it reach the position in X seconds? count = 0 while(count < timeout): + # 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)): @@ -120,15 +130,20 @@ class OffboardPosctlTest(unittest.TestCase): return self.cmdArm(value=True) # - # Test offboard POSCTL + # Test offboard position control # def test_posctl(self): + # FIXME: this must go ASAP when arming is implemented + manIn = ManualInput() + manIn.arm() + manIn.offboard() + self.assertTrue(self.arm(), "Could not arm") self.rateSec.sleep() self.rateSec.sleep() self.assertTrue(self.controlMode.flag_armed, "flag_armed is not set after 2 seconds") - # prepare flight path assertion + # prepare flight path positions = ( (0,0,0), (2,2,2), @@ -155,5 +170,5 @@ class OffboardPosctlTest(unittest.TestCase): if __name__ == '__main__': import rostest - rostest.rosrun(PKG, 'posctl_test', OffboardPosctlTest) + rostest.rosrun(PKG, 'mavros_offboard_posctl_test', OffboardPosctlTest) #unittest.main() diff --git a/integrationtests/demo_tests/mavros_tests.launch b/integrationtests/demo_tests/mavros_tests.launch index 8c1ad7b4d..4651f0dc9 100644 --- a/integrationtests/demo_tests/mavros_tests.launch +++ b/integrationtests/demo_tests/mavros_tests.launch @@ -15,4 +15,5 @@ <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" /> </launch> |