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#!/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 unittest
import rospy
import rosbag
from px4.msg import vehicle_control_mode
from px4.msg import vehicle_local_position
from px4.msg import vehicle_attitude_setpoint
from px4.msg import vehicle_attitude
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 px4_test_helper import PX4TestHelper
#
# Tests flying a path in offboard control by sending attitude and thrust setpoints
# over MAVROS.
#
# For the test to be successful it needs to cross a certain boundary in time.
#
class MavrosOffboardAttctlTest(unittest.TestCase):
def setUp(self):
rospy.init_node('test_node', anonymous=True)
rospy.wait_for_service('iris/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/attitude', PoseStamped, queue_size=10)
self.pub_thr = rospy.Publisher('iris/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()
self.local_position = PoseStamped()
def tearDown(self):
self.helper.tearDown()
#
# General callback functions used in tests
#
def position_callback(self, data):
self.has_pos = True
self.local_position = data
def vehicle_control_mode_callback(self, data):
self.control_mode = data
#
# Test offboard position control
#
def test_attctl(self):
# 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(0.15, 0.15, 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.pub_att.publish(att)
self.helper.bag_write('mavros/setpoint_attitude/attitude', att)
self.pub_thr.publish(throttle)
self.helper.bag_write('mavros/setpoint_attitude/att_throttle', throttle)
self.rate.sleep()
if (self.local_position.pose.position.x > 5
and self.local_position.pose.position.z > 5
and self.local_position.pose.position.y < -5):
break
count = count + 1
self.assertTrue(self.control_mode.flag_armed, "flag_armed is not set")
self.assertTrue(self.control_mode.flag_control_attitude_enabled, "flag_control_attitude_enabled is not set")
self.assertTrue(self.control_mode.flag_control_offboard_enabled, "flag_control_offboard_enabled is not set")
self.assertTrue(count < timeout, "took too long to cross boundaries")
if __name__ == '__main__':
import rostest
rostest.rosrun(PKG, 'mavros_offboard_attctl_test', MavrosOffboardAttctlTest)
#unittest.main()
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