From 7018ff298ea3174d6764a1e35196521ee31f4dd3 Mon Sep 17 00:00:00 2001
From: Andreas Antener <antener_a@gmx.ch>
Date: Sun, 15 Mar 2015 12:07:35 +0100
Subject: [PATCH] removing manual input and unused code from posctl test
---
.../demo_tests/mavros_offboard_posctl_test.py | 71 ++++++++-----------
1 file changed, 29 insertions(+), 42 deletions(-)
diff --git a/integrationtests/demo_tests/mavros_offboard_posctl_test.py b/integrationtests/demo_tests/mavros_offboard_posctl_test.py
index 6d26015e7b..568c2cbd80 100755
--- a/integrationtests/demo_tests/mavros_offboard_posctl_test.py
+++ b/integrationtests/demo_tests/mavros_offboard_posctl_test.py
@@ -37,7 +37,6 @@
#
PKG = 'px4'
-import sys
import unittest
import rospy
import math
@@ -49,9 +48,6 @@ from px4.msg import vehicle_control_mode
from std_msgs.msg import Header
from geometry_msgs.msg import PoseStamped, Quaternion
from tf.transformations import quaternion_from_euler
-from mavros.srv import CommandBool
-
-from manual_input import ManualInput
#
# Tests flying a path in offboard control by sending position setpoints
@@ -64,37 +60,41 @@ class MavrosOffboardPosctlTest(unittest.TestCase):
def setUp(self):
rospy.init_node('test_node', anonymous=True)
- 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.pub_spt = rospy.Publisher('iris/mavros/setpoint/local_position', PoseStamped, queue_size=10)
self.rate = rospy.Rate(10) # 10hz
- self.rateSec = rospy.Rate(1)
- self.hasPos = False
- self.controlMode = vehicle_control_mode()
+ self.has_pos = False
+ self.local_position = PoseStamped()
+ self.control_mode = vehicle_control_mode()
#
# General callback functions used in tests
#
def position_callback(self, data):
- self.hasPos = True
- self.localPosition = data
+ self.has_pos = True
+ self.local_position = data
def vehicle_control_mode_callback(self, data):
- self.controlMode = data
+ self.control_mode = data
#
# Helper methods
#
def is_at_position(self, x, y, z, offset):
- if(not self.hasPos):
+ if not self.has_pos:
return False
- rospy.logdebug("current position %f, %f, %f" % (self.localPosition.pose.position.x, self.localPosition.pose.position.y, self.localPosition.pose.position.z))
+ rospy.logdebug("current position %f, %f, %f" %
+ (self.local_position.pose.position.x,
+ self.local_position.pose.position.y,
+ self.local_position.pose.position.z))
+
desired = np.array((x, y, z))
- pos = np.array((self.localPosition.pose.position.x, self.localPosition.pose.position.y, self.localPosition.pose.position.z))
+ pos = np.array((self.local_position.pose.position.x,
+ self.local_position.pose.position.y,
+ self.local_position.pose.position.z))
return linalg.norm(desired - pos) < offset
def reach_position(self, x, y, z, timeout):
@@ -114,57 +114,44 @@ class MavrosOffboardPosctlTest(unittest.TestCase):
# does it reach the position in X seconds?
count = 0
- while(count < timeout):
+ while count < timeout:
# update timestamp for each published SP
pos.header.stamp = rospy.Time.now()
- self.pubSpt.publish(pos)
+ self.pub_spt.publish(pos)
- if(self.is_at_position(pos.pose.position.x, pos.pose.position.y, pos.pose.position.z, 0.5)):
+ if self.is_at_position(pos.pose.position.x, pos.pose.position.y, pos.pose.position.z, 0.5):
break
count = count + 1
self.rate.sleep()
self.assertTrue(count < timeout, "took too long to get to position")
- def arm(self):
- return self.cmdArm(value=True)
-
#
# Test offboard position control
#
def test_posctl(self):
- # FIXME: this must go ASAP when arming is implemented
- manIn = ManualInput()
- manIn.arm()
- manIn.offboard_posctl()
-
- self.assertTrue(self.arm(), "Could not arm")
- self.rateSec.sleep()
- self.rateSec.sleep()
- self.assertTrue(self.controlMode.flag_armed, "flag_armed is not set after 2 seconds")
-
# prepare flight path
positions = (
- (0,0,0),
- (2,2,2),
- (2,-2,2),
- (-2,-2,2),
- (2,2,2))
+ (0, 0, 0),
+ (2, 2, 2),
+ (2, -2, 2),
+ (-2, -2, 2),
+ (2, 2, 2))
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
timeout = 50
- while(count < timeout):
- if(not self.is_at_position(2, 2, 2, 0.5)):
- positionHeld = False
+ while count < timeout:
+ if not self.is_at_position(2, 2, 2, 0.5):
break
count = count + 1
self.rate.sleep()
+ self.assertTrue(self.control_mode.flag_armed, "flag_armed is not set")
+ self.assertTrue(self.control_mode.flag_control_position_enabled, "flag_control_position_enabled is not set")
+ self.assertTrue(self.control_mode.flag_control_offboard_enabled, "flag_control_offboard_enabled is not set")
self.assertTrue(count == timeout, "position could not be held")
--
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