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Added Roll Pitch Yawrate Thrust offboard test. Testing...
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integrationtests/python_src/px4_it/mavros/mavros_offboard_yawrate_test.py
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#!/usr/bin/env python2 | ||
#*************************************************************************** | ||
# | ||
# Copyright (c) 2020 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 Pedro Roque <[email protected]> | ||
# | ||
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from __future__ import division | ||
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PKG = 'px4' | ||
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import rospy | ||
from geometry_msgs.msg import Quaternion, Vector3 | ||
from mavros_msgs.msg import AttitudeTarget | ||
from mavros_test_common import MavrosTestCommon | ||
from pymavlink import mavutil | ||
from six.moves import xrange | ||
from std_msgs.msg import Header | ||
from threading import Thread | ||
from tf.transformations import quaternion_from_euler | ||
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class MavrosOffboardYawrateTest(MavrosTestCommon): | ||
""" | ||
Tests flying in offboard control by sending a Roll Pitch Yawrate Thrust (RPYrT) | ||
as attitude setpoint. | ||
For the test to be successful it needs to achieve a desired yawrate and height. | ||
""" | ||
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def setUp(self): | ||
super(MavrosOffboardYawrateTest, self).setUp() | ||
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self.att = AttitudeTarget() | ||
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self.att_setpoint_pub = rospy.Publisher( | ||
'mavros/setpoint_raw/attitude', AttitudeTarget, queue_size=1) | ||
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# send setpoints in seperate thread to better prevent failsafe | ||
self.att_thread = Thread(target=self.send_att, args=()) | ||
self.att_thread.daemon = True | ||
self.att_thread.start() | ||
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# desired yawrate target | ||
self.des_yawrate = 0.1 | ||
self.yawrate_tol = 0.02 | ||
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def tearDown(self): | ||
super(MavrosOffboardYawrateTest, self).tearDown() | ||
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# | ||
# Helper methods | ||
# | ||
def send_att(self): | ||
rate = rospy.Rate(10) # Hz | ||
self.att.body_rate = Vector3() | ||
self.att.header = Header() | ||
self.att.header.frame_id = "base_footprint" | ||
self.att.orientation = self.local_position.pose.orientation | ||
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self.att.body_rate.x = 0 | ||
self.att.body_rate.y = 0 | ||
self.att.body_rate.z = self.des_yawrate | ||
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self.att.thrust = 0.59 | ||
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self.att.type_mask = 3 # ignore roll and pitch rate | ||
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while not rospy.is_shutdown(): | ||
self.att.header.stamp = rospy.Time.now() | ||
self.att_setpoint_pub.publish(self.att) | ||
try: # prevent garbage in console output when thread is killed | ||
rate.sleep() | ||
except rospy.ROSInterruptException: | ||
pass | ||
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# | ||
# Test method | ||
# | ||
def test_attctl(self): | ||
"""Test offboard yawrate control""" | ||
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# boundary to cross | ||
# Stay leveled, go up, and test yawrate | ||
boundary_x = 5 | ||
boundary_y = 5 | ||
boundary_z = 10 | ||
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# make sure the simulation is ready to start the mission | ||
self.wait_for_topics(60) | ||
self.wait_for_landed_state(mavutil.mavlink.MAV_LANDED_STATE_ON_GROUND, | ||
10, -1) | ||
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self.log_topic_vars() | ||
self.set_arm(True, 5) | ||
self.set_mode("OFFBOARD", 5) | ||
rospy.loginfo("run mission") | ||
rospy.loginfo("attempting to cross boundary | z: {2} , stay within x: {0} y: {1} \n and achieve {3} yawrate". | ||
format(boundary_x, boundary_y, boundary_z, self.des_yawrate)) | ||
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# does it cross expected boundaries in 'timeout' seconds? | ||
timeout = 90 # (int) seconds | ||
loop_freq = 2 # Hz | ||
rate = rospy.Rate(loop_freq) | ||
crossed = False | ||
for i in xrange(timeout * loop_freq): | ||
if (self.local_position.pose.position.x < boundary_x and | ||
self.local_position.pose.position.x > -boundary_x and | ||
self.local_position.pose.position.y < boundary_y and | ||
self.local_position.pose.position.y > -boundary_y and | ||
self.local_position.pose.position.z > boundary_z and | ||
abs(self.imu_data.angular_velocity.z - self.des_yawrate) < self.yawrate_tol): | ||
rospy.loginfo("Test successful. Final altitude and yawrate achieved") | ||
crossed = True | ||
break | ||
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try: | ||
rate.sleep() | ||
except rospy.ROSException as e: | ||
self.fail(e) | ||
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self.assertTrue(crossed, ( | ||
"took too long to finish test | current position x: {0:.2f}, y: {1:.2f}, z: {2:.2f} \n " \ | ||
" | current att qx: {3:.2f}, qy: {4:.2f}, qz: {5:.2f} qw: {6:.2f}, yr: {7:.2f}| timeout(seconds): {8}". | ||
format(self.local_position.pose.position.x, | ||
self.local_position.pose.position.y, | ||
self.local_position.pose.position.z, | ||
self.imu_data.orientation.x, | ||
self.imu_data.orientation.y, | ||
self.imu_data.orientation.z, | ||
self.imu_data.orientation.w, | ||
self.imu_data.angular_velocity.z, | ||
timeout))) | ||
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self.set_mode("AUTO.LAND", 5) | ||
self.wait_for_landed_state(mavutil.mavlink.MAV_LANDED_STATE_ON_GROUND, | ||
90, 0) | ||
self.set_arm(False, 5) | ||
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if __name__ == '__main__': | ||
import rostest | ||
rospy.init_node('test_node', anonymous=True) | ||
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rostest.rosrun(PKG, 'mavros_offboard_yawrate_test', | ||
MavrosOffboardYawrateTest) |
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<?xml version="1.0"?> | ||
<launch> | ||
<!-- Posix SITL MAVROS integration tests --> | ||
<!-- Test offboard attitude control --> | ||
<arg name="est" default="ekf2"/> | ||
<arg name="gui" default="false"/> | ||
<arg name="interactive" default="false"/> | ||
<arg name="vehicle" default="iris"/> | ||
<!-- MAVROS, PX4 SITL, Gazebo --> | ||
<include file="$(find px4)/launch/mavros_posix_sitl.launch"> | ||
<arg name="est" value="$(arg est)"/> | ||
<arg name="gui" value="$(arg gui)"/> | ||
<arg name="interactive" value="$(arg interactive)"/> | ||
<arg name="respawn_gazebo" value="true"/> | ||
<arg name="respawn_mavros" value="true"/> | ||
<arg name="vehicle" value="$(arg vehicle)"/> | ||
<arg name="verbose" value="true"/> | ||
</include> | ||
<!-- ROStest --> | ||
<test test-name="mavros_offboard_yawrate_test" pkg="px4" type="mavros_offboard_yawrate_test.py" time-limit="300.0"/> | ||
</launch> |