diff options
6 files changed, 32 insertions, 28 deletions
diff --git a/integrationtests/demo_tests/direct_manual_input_test.py b/integrationtests/demo_tests/direct_manual_input_test.py index 6d115316b..b037d842f 100755 --- a/integrationtests/demo_tests/direct_manual_input_test.py +++ b/integrationtests/demo_tests/direct_manual_input_test.py @@ -64,8 +64,8 @@ class ManualInputTest(unittest.TestCase): # def test_manual_input(self): rospy.init_node('test_node', anonymous=True) - 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) + 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) man = ManualInput() diff --git a/integrationtests/demo_tests/direct_offboard_posctl_test.py b/integrationtests/demo_tests/direct_offboard_posctl_test.py index e09550bbc..18239e926 100755 --- a/integrationtests/demo_tests/direct_offboard_posctl_test.py +++ b/integrationtests/demo_tests/direct_offboard_posctl_test.py @@ -66,9 +66,9 @@ class DirectOffboardPosctlTest(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) + rospy.Subscriber('iris/vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback) + rospy.Subscriber("iris/vehicle_local_position", vehicle_local_position, self.position_callback) + self.pubSpt = rospy.Publisher('iris/position_setpoint_triplet', position_setpoint_triplet, queue_size=10) self.rate = rospy.Rate(10) # 10hz def tearDown(self): diff --git a/integrationtests/demo_tests/manual_input.py b/integrationtests/demo_tests/manual_input.py index 9b2471a00..7072464de 100755 --- a/integrationtests/demo_tests/manual_input.py +++ b/integrationtests/demo_tests/manual_input.py @@ -54,8 +54,8 @@ 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.pubOff = rospy.Publisher('px4_multicopter/offboard_control_mode', offboard_control_mode, queue_size=10) + self.pubMcsp = rospy.Publisher('iris/manual_control_setpoint', manual_control_setpoint, queue_size=10) + self.pubOff = rospy.Publisher('iris/offboard_control_mode', offboard_control_mode, queue_size=10) self.pubAtt = rospy.Publisher('iris/command/attitude', CommandAttitudeThrust, queue_size=10) def arm(self): @@ -85,7 +85,7 @@ class ManualInput: # Fake input to iris commander self.pubAtt.publish(att) rate.sleep() - count = count + 1 + count = count + 1 pos.r = 1 count = 0 diff --git a/integrationtests/demo_tests/mavros_offboard_attctl_test.py b/integrationtests/demo_tests/mavros_offboard_attctl_test.py index a52f7ffc1..92cdf1e0a 100755 --- a/integrationtests/demo_tests/mavros_offboard_attctl_test.py +++ b/integrationtests/demo_tests/mavros_offboard_attctl_test.py @@ -65,12 +65,12 @@ class MavrosOffboardAttctlTest(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) + rospy.wait_for_service('iris/mavros/cmd/arming', 30) + 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.pubAtt = rospy.Publisher('iris/mavros/setpoint/attitude', PoseStamped, queue_size=10) + self.pubThr = rospy.Publisher('iris/mavros/setpoint/att_throttle', Float64, queue_size=10) + self.cmdArm = rospy.ServiceProxy("iris/mavros/cmd/arming", CommandBool) self.rate = rospy.Rate(10) # 10hz self.rateSec = rospy.Rate(1) self.hasPos = False @@ -109,7 +109,7 @@ class MavrosOffboardAttctlTest(unittest.TestCase): # set some attitude and thrust att = PoseStamped() - att.header = Header() + att.header = Header() att.header.frame_id = "base_footprint" att.header.stamp = rospy.Time.now() quaternion = quaternion_from_euler(0.15, 0.15, 0) @@ -126,7 +126,7 @@ class MavrosOffboardAttctlTest(unittest.TestCase): 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): @@ -135,7 +135,7 @@ class MavrosOffboardAttctlTest(unittest.TestCase): self.rate.sleep() self.assertTrue(count < timeout, "took too long to cross boundaries") - + if __name__ == '__main__': import rostest diff --git a/integrationtests/demo_tests/mavros_offboard_posctl_test.py b/integrationtests/demo_tests/mavros_offboard_posctl_test.py index a3739ae5c..6d26015e7 100755 --- a/integrationtests/demo_tests/mavros_offboard_posctl_test.py +++ b/integrationtests/demo_tests/mavros_offboard_posctl_test.py @@ -64,11 +64,11 @@ class MavrosOffboardPosctlTest(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.pubSpt = rospy.Publisher('mavros/setpoint/local_position', PoseStamped, queue_size=10) - self.cmdArm = rospy.ServiceProxy("mavros/cmd/arming", CommandBool) + rospy.wait_for_service('iris/mavros/cmd/arming', 30) + 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.pubSpt = rospy.Publisher('iris/mavros/setpoint/local_position', PoseStamped, queue_size=10) + self.cmdArm = rospy.ServiceProxy("iris/mavros/cmd/arming", CommandBool) self.rate = rospy.Rate(10) # 10hz self.rateSec = rospy.Rate(1) self.hasPos = False @@ -100,7 +100,7 @@ class MavrosOffboardPosctlTest(unittest.TestCase): def reach_position(self, x, y, z, timeout): # set a position setpoint pos = PoseStamped() - pos.header = Header() + pos.header = Header() pos.header.frame_id = "base_footprint" pos.pose.position.x = x pos.pose.position.y = y @@ -118,7 +118,7 @@ class MavrosOffboardPosctlTest(unittest.TestCase): # 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)): break count = count + 1 @@ -153,7 +153,7 @@ class MavrosOffboardPosctlTest(unittest.TestCase): 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 @@ -166,7 +166,7 @@ class MavrosOffboardPosctlTest(unittest.TestCase): self.rate.sleep() self.assertTrue(count == timeout, "position could not be held") - + if __name__ == '__main__': import rostest diff --git a/integrationtests/demo_tests/mavros_tests.launch b/integrationtests/demo_tests/mavros_tests.launch index 4651f0dc9..e42db6043 100644 --- a/integrationtests/demo_tests/mavros_tests.launch +++ b/integrationtests/demo_tests/mavros_tests.launch @@ -3,7 +3,8 @@ <arg name="gui" default="false"/> <arg name="enable_logging" default="false"/> <arg name="enable_ground_truth" default="false"/> - <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="$(arg ns)"/> + </include> + <include file="$(find px4)/launch/mavros_sitl.launch"> + <arg name="ns" value="$(arg ns)"/> </include> - <include file="$(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" /> |