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133 lines
5.0 KiB
Python
Executable File
133 lines
5.0 KiB
Python
Executable File
#!/usr/bin/env python
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#***************************************************************************
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#
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# Copyright (c) 2015 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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#***************************************************************************/
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#
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# @author Andreas Antener <andreas@uaventure.com>
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#
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PKG = 'px4'
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import unittest
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import rospy
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import rosbag
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from std_msgs.msg import Header
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from std_msgs.msg import Float64
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from geometry_msgs.msg import PoseStamped, Quaternion
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from tf.transformations import quaternion_from_euler
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from mavros_msgs.srv import CommandLong
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#from px4_test_helper import PX4TestHelper
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class MavrosOffboardAttctlTest(unittest.TestCase):
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"""
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Tests flying in offboard control by sending attitude and thrust setpoints
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via MAVROS.
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For the test to be successful it needs to cross a certain boundary in time.
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"""
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def setUp(self):
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rospy.init_node('test_node', anonymous=True)
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rospy.wait_for_service('mavros/cmd/arming', 30)
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#self.helper = PX4TestHelper("mavros_offboard_attctl_test")
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#self.helper.setUp()
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rospy.Subscriber("mavros/local_position/pose", PoseStamped, self.position_callback)
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self.pub_att = rospy.Publisher('mavros/setpoint_attitude/attitude', PoseStamped, queue_size=10)
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self.pub_thr = rospy.Publisher('mavros/setpoint_attitude/att_throttle', Float64, queue_size=10)
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rospy.wait_for_service('mavros/cmd/command', 30)
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self._srv_cmd_long = rospy.ServiceProxy('mavros/cmd/command', CommandLong, persistent=True)
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self.rate = rospy.Rate(10) # 10hz
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self.has_pos = False
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self.local_position = PoseStamped()
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def tearDown(self):
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#self.helper.tearDown()
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pass
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#
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# General callback functions used in tests
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#
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def position_callback(self, data):
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self.has_pos = True
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self.local_position = data
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def test_attctl(self):
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"""Test offboard attitude control"""
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# set some attitude and thrust
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att = PoseStamped()
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att.header = Header()
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att.header.frame_id = "base_footprint"
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att.header.stamp = rospy.Time.now()
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quaternion = quaternion_from_euler(0.15, 0.15, 0)
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att.pose.orientation = Quaternion(*quaternion)
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throttle = Float64()
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throttle.data = 0.8
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armed = False
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# does it cross expected boundaries in X seconds?
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count = 0
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timeout = 120
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while count < timeout:
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# update timestamp for each published SP
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att.header.stamp = rospy.Time.now()
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self.pub_att.publish(att)
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#self.helper.bag_write('mavros/setpoint_attitude/attitude', att)
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self.pub_thr.publish(throttle)
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#self.helper.bag_write('mavros/setpoint_attitude/att_throttle', throttle)
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self.rate.sleep()
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# arm and switch to offboard
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# (need to wait the first few rounds until PX4 has the offboard stream)
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if not armed and count > 5:
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self._srv_cmd_long(False, 176, False,
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128 | 1, 6, 0, 0, 0, 0, 0)
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armed = True
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if (self.local_position.pose.position.x > 5
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and self.local_position.pose.position.z > 5
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and self.local_position.pose.position.y < -5):
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break
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count = count + 1
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self.assertTrue(count < timeout, "took too long to cross boundaries")
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if __name__ == '__main__':
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import rostest
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rostest.rosrun(PKG, 'mavros_offboard_attctl_test', MavrosOffboardAttctlTest)
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#unittest.main()
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