Merge pull request #1793 from PX4/ros_mavlink

ROS SITL: offboard setpoints

7 files changed, 732 insertions, 0 deletions

diff --git a/integrationtests/demo_tests/direct_arm_test.py b/integrationtests/demo_tests/direct_arm_test.py
new file mode 100755
index 000000000..238f2d7e0
--- /dev/null
+++ b/integrationtests/demo_tests/direct_arm_test.py
@@ -0,0 +1,73 @@
+#!/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
+
+from px4.msg import actuator_armed
+from manual_input import ManualInput
+
+class ArmTest(unittest.TestCase):
+
+    #
+    # General callback functions used in tests
+    #
+    def actuator_armed_callback(self, data):
+        self.actuatorStatus = data
+    
+    #
+    # Test arming
+    #
+    def test_arm(self):
+        rospy.init_node('test_node', anonymous=True)
+        sub = rospy.Subscriber('px4_multicopter/actuator_armed', actuator_armed, self.actuator_armed_callback)
+
+        # method to test
+        arm = ManualInput()
+        arm.arm()
+
+        self.assertEquals(self.actuatorStatus.armed, True, "not armed")
+
+
+    
+
+if __name__ == '__main__':
+    import rostest
+    rostest.rosrun(PKG, 'arm_test', ArmTest)
diff --git a/integrationtests/demo_tests/direct_offboard_posctl_test.py b/integrationtests/demo_tests/direct_offboard_posctl_test.py
new file mode 100755
index 000000000..42667757b
--- /dev/null
+++ b/integrationtests/demo_tests/direct_offboard_posctl_test.py
@@ -0,0 +1,160 @@
+#!/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
+
+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
+
+    def tearDown(self):
+        if (self.fpa):
+            self.fpa.stop()
+
+    #
+    # 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
+        positions = (
+            (0,0,0),
+            (2,2,-2),
+            (2,-2,-2),
+            (-2,-2,-2),
+            (2,2,-2))
+
+        self.fpa = FlightPathAssertion(positions, 1, 0)
+        self.fpa.start()
+
+        for i in range(0, len(positions)):
+            self.reach_position(positions[i][0], positions[i][1], positions[i][2], 120)
+            self.assertFalse(self.fpa.failed, "breached flight path tunnel (%d)" % i)
+        
+        # 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")
+        self.fpa.stop()
+    
+
+if __name__ == '__main__':
+    import rostest
+    rostest.rosrun(PKG, 'posctl_test', OffboardPosctlTest)
+    #unittest.main()
diff --git a/integrationtests/demo_tests/direct_tests.launch b/integrationtests/demo_tests/direct_tests.launch
new file mode 100644
index 000000000..d871c085c
--- /dev/null
+++ b/integrationtests/demo_tests/direct_tests.launch
@@ -0,0 +1,18 @@
+<launch>
+    <arg name="headless" default="true"/>
+    <arg name="gui" default="false"/>
+    <arg name="enable_logging" default="false"/>
+    <arg name="enable_ground_truth" default="false"/>
+    <arg name="log_file" default="iris"/>
+
+    <include file="$(find px4)/launch/gazebo_iris_empty_world.launch">
+        <arg name="headless" value="$(arg headless)"/>
+        <arg name="gui" value="$(arg gui)"/>
+        <arg name="enable_logging" value="$(arg enable_logging)" />
+        <arg name="enable_ground_truth" value="$(arg enable_ground_truth)" />
+        <arg name="log_file" value="$(arg log_file)"/>
+    </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" />
+</launch>
diff --git a/integrationtests/demo_tests/flight_path_assertion.py b/integrationtests/demo_tests/flight_path_assertion.py
new file mode 100644
index 000000000..1f5bf01fc
--- /dev/null
+++ b/integrationtests/demo_tests/flight_path_assertion.py
@@ -0,0 +1,171 @@
+#!/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 sys
+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
+import math
+
+#
+# Helper to test if vehicle stays in 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, yawOffset = 0.2):
+        threading.Thread.__init__(self)
+        rospy.Subscriber("px4_multicopter/vehicle_local_position", vehicle_local_position, self.position_callback)
+        self.spawnModel = rospy.ServiceProxy('gazebo/spawn_sdf_model', SpawnModel)
+        self.setModelState = rospy.ServiceProxy('gazebo/set_model_state', SetModelState)
+        self.deleteModel = rospy.ServiceProxy('gazebo/delete_model', DeleteModel)
+
+        self.positions = positions
+        self.tunnelRadius = tunnelRadius
+        self.yawOffset = yawOffset
+        self.hasPos = False
+        self.shouldStop = False
+        self.center = positions[0]
+        self.endOfSegment = False
+        self.failed = False
+
+    def position_callback(self, data):
+        self.hasPos = True
+        self.localPosition = data
+
+    def spawn_indicator(self):
+        self.deleteModel("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.tunnelRadius
+        self.spawnModel("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.setModelState(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.endOfSegment = 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.shouldStop = True
+
+    def run(self):
+        rate = rospy.Rate(10) # 10hz
+        self.spawn_indicator()
+
+        current = 0
+
+        while not self.shouldStop:
+            if (self.hasPos):
+                # calculate distance to line segment between first two points
+                # if distances > tunnelRadius
+                #   exit with error
+                # advance current pos if not on the line anymore or distance to next point < tunnelRadius
+                # exit if current pos is now the last position
+
+                self.position_indicator()
+
+                pos = np.array((self.localPosition.x,
+                    self.localPosition.y, 
+                    self.localPosition.z))
+                aPos = np.array((self.positions[current][0],
+                    self.positions[current][1], 
+                    self.positions[current][2]))
+                bPos = np.array((self.positions[current + 1][0],
+                    self.positions[current + 1][1], 
+                    self.positions[current + 1][2]))
+
+                dist = self.distance_to_line(aPos, bPos, pos)
+                bDist = linalg.norm(pos - bPos)
+
+                rospy.logdebug("distance to line: %f, distance to end: %f" % (dist, bDist))
+
+                if (dist > self.tunnelRadius):
+                    msg = "left tunnel at position (%f, %f, %f)" % (self.localPosition.x, self.localPosition.y, self.localPosition.z)
+                    rospy.logerr(msg)
+                    self.failed = True
+                    break
+
+                if (self.endOfSegment or bDist < self.tunnelRadius):
+                    rospy.loginfo("next segment")
+                    self.endOfSegment = False
+                    current = current + 1
+
+                if (current == len(self.positions) - 1):
+                    rospy.loginfo("no more positions")
+                    break
+
+            rate.sleep()
diff --git a/integrationtests/demo_tests/manual_input.py b/integrationtests/demo_tests/manual_input.py
new file mode 100755
index 000000000..55911bede
--- /dev/null
+++ b/integrationtests/demo_tests/manual_input.py
@@ -0,0 +1,146 @@
+#!/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 sys
+import rospy
+
+from px4.msg import manual_control_setpoint
+from mav_msgs.msg import CommandAttitudeThrust
+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
+# the simulator does not instantiate our controller.
+#
+class ManualInput:
+
+    def __init__(self):
+        rospy.init_node('test_node', anonymous=True)
+        self.pubMcsp = rospy.Publisher('px4_multicopter/manual_control_setpoint', manual_control_setpoint, queue_size=10)
+        self.pubAtt = rospy.Publisher('iris/command/attitude', CommandAttitudeThrust, queue_size=10)
+
+    def arm(self):
+        rate = rospy.Rate(10) # 10hz
+
+        att = CommandAttitudeThrust()
+        att.header = Header()
+
+        pos = manual_control_setpoint()
+        pos.x = 0
+        pos.z = 0
+        pos.y = 0
+        pos.r = 0
+        pos.mode_switch = 3
+        pos.return_switch = 3
+        pos.posctl_switch = 3
+        pos.loiter_switch = 3
+        pos.acro_switch = 0
+        pos.offboard_switch = 3
+
+        count = 0
+        while not rospy.is_shutdown() and count < 10:
+            rospy.loginfo("zeroing")
+            time = rospy.get_rostime().now()
+            pos.timestamp = time.secs * 1e6 + time.nsecs / 1000
+            self.pubMcsp.publish(pos)
+            # Fake input to iris commander
+            self.pubAtt.publish(att)
+            rate.sleep()
+            count = count + 1 
+
+        pos.r = 1
+        count = 0
+        while not rospy.is_shutdown() and count < 10:
+            rospy.loginfo("arming")
+            time = rospy.get_rostime().now()
+            pos.timestamp = time.secs * 1e6 + time.nsecs / 1000
+            self.pubMcsp.publish(pos)
+            rate.sleep()
+            count = count + 1
+
+    def posctl(self):
+        rate = rospy.Rate(10) # 10hz
+
+        # triggers posctl
+        pos = manual_control_setpoint()
+        pos.x = 0
+        pos.z = 0
+        pos.y = 0
+        pos.r = 0
+        pos.mode_switch = 2
+        pos.return_switch = 3
+        pos.posctl_switch = 1
+        pos.loiter_switch = 3
+        pos.acro_switch = 0
+        pos.offboard_switch = 3
+
+        count = 0
+        while not rospy.is_shutdown() and count < 10:
+            rospy.loginfo("triggering posctl")
+            time = rospy.get_rostime().now()
+            pos.timestamp = time.secs * 1e6 + time.nsecs / 1000
+            self.pubMcsp.publish(pos)
+            rate.sleep()
+            count = count + 1
+
+    def offboard(self):
+        rate = rospy.Rate(10) # 10hz
+
+        # triggers posctl
+        pos = manual_control_setpoint()
+        pos.x = 0
+        pos.z = 0
+        pos.y = 0
+        pos.r = 0
+        pos.mode_switch = 3
+        pos.return_switch = 3
+        pos.posctl_switch = 3
+        pos.loiter_switch = 3
+        pos.acro_switch = 0
+        pos.offboard_switch = 1
+
+        count = 0
+        while not rospy.is_shutdown() and count < 10:
+            rospy.loginfo("triggering posctl")
+            time = rospy.get_rostime().now()
+            pos.timestamp = time.secs * 1e6 + time.nsecs / 1000
+            self.pubMcsp.publish(pos)
+            rate.sleep()
+            count = count + 1
+
diff --git a/integrationtests/demo_tests/mavros_offboard_posctl_test.py b/integrationtests/demo_tests/mavros_offboard_posctl_test.py
new file mode 100755
index 000000000..7468ad53f
--- /dev/null
+++ b/integrationtests/demo_tests/mavros_offboard_posctl_test.py
@@ -0,0 +1,146 @@
+#!/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 geometry_msgs.msg import PoseStamped, Quaternion
+from tf.transformations import quaternion_from_euler
+
+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/mavros/position/local", PoseStamped, self.position_callback)
+        self.pubSpt = rospy.Publisher('px4_multicopter/mavros/setpoint/local_position', PoseStamped, queue_size=10)
+        self.rate = rospy.Rate(10) # 10hz
+        self.hasPos = False
+
+    #
+    # 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):
+        if(not self.hasPos):
+            return False
+
+        rospy.logdebug("current position %f, %f, %f" % (self.localPosition.pose.position.x, self.localPosition.pose.position.y, self.localPosition.pose.position.z))
+        desired = np.array((x, y, z))
+        pos = np.array((self.localPosition.pose.position.x, self.localPosition.pose.position.y, self.localPosition.pose.position.z))
+        return linalg.norm(desired - pos) < offset
+
+    def reach_position(self, x, y, z, timeout):
+        # set a position setpoint
+        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
+
+        # For demo purposes we will lock yaw/heading to north.
+        yaw_degrees = 0  # North
+        yaw = math.radians(yaw_degrees)
+        quaternion = quaternion_from_euler(0, 0, yaw)
+        pos.pose.orientation = Quaternion(*quaternion)
+
+        # does it reach the position in X seconds?
+        count = 0
+        while(count < timeout):
+            self.pubSpt.publish(pos)
+            
+            if(self.is_at_position(pos.pose.position.x, pos.pose.position.y, pos.pose.position.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):
+        # prepare flight path assertion
+        positions = (
+            (0,0,0),
+            (2,2,2),
+            (2,-2,2),
+            (-2,-2,2),
+            (2,2,2))
+
+        for i in range(0, len(positions)):
+            self.reach_position(positions[i][0], positions[i][1], positions[i][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")
+    
+
+if __name__ == '__main__':
+    import rostest
+    rostest.rosrun(PKG, 'posctl_test', OffboardPosctlTest)
+    #unittest.main()
diff --git a/integrationtests/demo_tests/mavros_tests.launch b/integrationtests/demo_tests/mavros_tests.launch
new file mode 100644
index 000000000..8c1ad7b4d
--- /dev/null
+++ b/integrationtests/demo_tests/mavros_tests.launch
@@ -0,0 +1,18 @@
+<launch>
+    <arg name="headless" default="true"/>
+    <arg name="gui" default="false"/>
+    <arg name="enable_logging" default="false"/>
+    <arg name="enable_ground_truth" default="false"/>
+    <arg name="log_file" default="iris"/>
+
+    <include file="$(find px4)/launch/gazebo_iris_empty_world.launch">
+        <arg name="headless" value="$(arg headless)"/>
+        <arg name="gui" value="$(arg gui)"/>
+        <arg name="enable_logging" value="$(arg enable_logging)" />
+        <arg name="enable_ground_truth" value="$(arg enable_ground_truth)" />
+        <arg name="log_file" value="$(arg log_file)"/>
+    </include>
+    <include file="$(find px4)/launch/mavros_sitl.launch" />
+
+    <test test-name="mavros_offboard_posctl_test" pkg="px4" type="mavros_offboard_posctl_test.py" />
+</launch>