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update namespace in mavros tests

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This commit is contained in:
Thomas Gubler
2015-03-07 19:27:36 +01:00
parent df4f825902
commit 9a9ca184e8
6 changed files with 32 additions and 28 deletions
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4
integrationtests/demo_tests/direct_manual_input_test.py
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@@ -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()

6
integrationtests/demo_tests/direct_offboard_posctl_test.py
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@@ -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):

6
integrationtests/demo_tests/manual_input.py
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@@ -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

18
integrationtests/demo_tests/mavros_offboard_attctl_test.py
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@@ -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

18
integrationtests/demo_tests/mavros_offboard_posctl_test.py
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@@ -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

8
integrationtests/demo_tests/mavros_tests.launch
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@@ -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" />