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- updated manual input to publish directly to px4 and not over joystick topics

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- updated tests to work with current setup
This commit is contained in:
Andreas Antener
2015-02-22 18:02:43 +01:00
committed by Thomas Gubler
parent a54849eeff
commit e0e7f8c517
4 changed files with 84 additions and 32 deletions
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95
integrationtests/demo_tests/manual_input.py
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@@ -2,43 +2,59 @@
import sys
import rospy
from sensor_msgs.msg import Joy
from px4.msg import manual_control_setpoint
from mav_msgs.msg import CommandAttitudeThrust
from std_msgs.msg import Header
#
# Manual input control helper, fakes joystick input
# > needs to correspond to default mapping in manual_input node
# 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.joyPx4 = rospy.Publisher('px4_multicopter/joy', Joy, queue_size=10)
self.joyIris = rospy.Publisher('iris/joy', Joy, queue_size=10)
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
msg = Joy()
msg.header = Header()
msg.buttons = [0, 0, 0, 0, 0]
msg.axes = [-0.0, -0.0, 1.0, -0.0, -0.0, 0.0, 0.0]
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")
self.joyPx4.publish(msg)
self.joyIris.publish(msg)
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
msg.buttons = [0, 0, 0, 0, 0]
msg.axes = [-1.0, -0.0, 1.0, -0.0, -0.0, 0.0, 0.0]
pos.r = 1
count = 0
while not rospy.is_shutdown() and count < 10:
rospy.loginfo("arming")
self.joyPx4.publish(msg)
self.joyIris.publish(msg)
time = rospy.get_rostime().now()
pos.timestamp = time.secs * 1e6 + time.nsecs / 1000
self.pubMcsp.publish(pos)
rate.sleep()
count = count + 1
@@ -46,14 +62,49 @@ class ManualInput:
rate = rospy.Rate(10) # 10hz
# triggers posctl
msg = Joy()
msg.header = Header()
msg.buttons = [0, 0, 1, 0, 0]
msg.axes = [-0.0, -0.0, 1.0, -0.0, -0.0, 0.0, 0.0]
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")
self.joyPx4.publish(msg)
self.joyIris.publish(msg)
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