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Commit bee2c987 authored by Andreas Antener's avatar Andreas Antener
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reorganized posix sitl launch scripts, reorganized mavros python test scripts... 

reorganized posix sitl launch scripts, reorganized mavros python test scripts (integration tests) and updated them for posix sitl, removed old and not working integration tests
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integrationtests/demo_tests/direct_manual_input_test.py deleted 100755 → 0
+ 0
− 90
View file @ a8a57ca2
#!/usr/bin/env python
#***************************************************************************
#
# Copyright (c) 2015 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 Andreas Antener <andreas@uaventure.com>
#
PKG = 'px4'
import unittest
import rospy
from px4.msg import actuator_armed
from px4.msg import vehicle_control_mode
from manual_input import ManualInput
#
# Tests if commander reacts to manual input and sets control flags accordingly
#
class ManualInputTest(unittest.TestCase):
def setUp(self):
self.actuator_status = actuator_armed()
self.control_mode = vehicle_control_mode()
#
# General callback functions used in tests
#
def actuator_armed_callback(self, data):
self.actuator_status = data
def vehicle_control_mode_callback(self, data):
self.control_mode = data
#
# Test arming
#
def test_manual_input(self):
rospy.init_node('test_node', anonymous=True)
rospy.Subscriber('actuator_armed', actuator_armed, self.actuator_armed_callback)
rospy.Subscriber('vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback)
man_in = ManualInput()
# Test arming
man_in.arm()
self.assertEquals(self.actuator_status.armed, True, "did not arm")
# Test posctl
man_in.posctl()
self.assertTrue(self.control_mode.flag_control_position_enabled, "flag_control_position_enabled is not set")
# Test offboard
man_in.offboard()
self.assertTrue(self.control_mode.flag_control_offboard_enabled, "flag_control_offboard_enabled is not set")
if __name__ == '__main__':
import rostest
rostest.rosrun(PKG, 'direct_manual_input_test', ManualInputTest)
integrationtests/demo_tests/direct_offboard_posctl_test.py deleted 100755 → 0
+ 0
− 175
View file @ a8a57ca2
#!/usr/bin/env python
#***************************************************************************
#
# Copyright (c) 2015 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 Andreas Antener <andreas@uaventure.com>
#
PKG = 'px4'
import unittest
import rospy
import rosbag
from numpy import linalg
import numpy as np
from px4.msg import vehicle_local_position
from px4.msg import vehicle_control_mode
from px4.msg import position_setpoint_triplet
from px4.msg import position_setpoint
from px4.msg import vehicle_local_position_setpoint
from manual_input import ManualInput
from flight_path_assertion import FlightPathAssertion
from px4_test_helper import PX4TestHelper
#
# Tests flying a path in offboard control by directly sending setpoints
# to the position controller (position_setpoint_triplet).
#
# For the test to be successful it needs to stay on the predefined path
# and reach all setpoints in a certain time.
#
class DirectOffboardPosctlTest(unittest.TestCase):
def setUp(self):
rospy.init_node('test_node', anonymous=True)
self.helper = PX4TestHelper("direct_offboard_posctl_test")
self.helper.setUp()
rospy.Subscriber('vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback)
self.sub_vlp = rospy.Subscriber("vehicle_local_position", vehicle_local_position, self.position_callback)
self.pub_spt = rospy.Publisher('position_setpoint_triplet', position_setpoint_triplet, queue_size=10)
self.rate = rospy.Rate(10) # 10hz
self.has_pos = False
self.local_position = vehicle_local_position()
self.control_mode = vehicle_control_mode()
def tearDown(self):
if self.fpa:
self.fpa.stop()
self.helper.tearDown()
#
# General callback functions used in tests
#
def position_callback(self, data):
self.has_pos = True
self.local_position = data
def vehicle_control_mode_callback(self, data):
self.control_mode = data
#
# Helper methods
#
def is_at_position(self, x, y, z, offset):
rospy.logdebug("current position %f, %f, %f" % (self.local_position.x, self.local_position.y, self.local_position.z))
desired = np.array((x, y, z))
pos = np.array((self.local_position.x, self.local_position.y, self.local_position.z))
return linalg.norm(desired - pos) < offset
def reach_position(self, x, y, z, timeout):
# set a position setpoint
pos = position_setpoint()
pos.valid = True
pos.x = x
pos.y = y
pos.z = z
pos.position_valid = True
stp = position_setpoint_triplet()
stp.current = pos
self.pub_spt.publish(stp)
self.helper.bag_write('px4/position_setpoint_triplet', stp)
# does it reach the position in X seconds?
count = 0
while count < timeout:
if self.is_at_position(pos.x, pos.y, pos.z, 0.5):
break
count = count + 1
self.rate.sleep()
self.assertTrue(count < timeout, "took too long to get to position")
#
# Test offboard position control
#
def test_posctl(self):
man_in = ManualInput()
# arm and go into offboard
man_in.arm()
man_in.offboard()
self.assertTrue(self.control_mode.flag_armed, "flag_armed is not set")
self.assertTrue(self.control_mode.flag_control_offboard_enabled, "flag_control_offboard_enabled is not set")
self.assertTrue(self.control_mode.flag_control_position_enabled, "flag_control_position_enabled is not set")
# prepare flight path
positions = (
(0, 0, 0),
(0, 0, -2),
(2, 2, -2),
(2, -2, -2),
(-2, -2, -2),
(2, 2, -2))
# flight path assertion
self.fpa = FlightPathAssertion(positions, 1, 0)
self.fpa.start()
for i in range(0, len(positions)):
self.reach_position(positions[i][0], positions[i][1], positions[i][2], 120)
self.assertFalse(self.fpa.failed, "breached flight path tunnel (%d)" % i)
# does it hold the position for Y seconds?
count = 0
timeout = 50
while count < timeout:
if not self.is_at_position(2, 2, -2, 0.5):
break
count = count + 1
self.rate.sleep()
self.assertTrue(count == timeout, "position could not be held")
self.fpa.stop()
if __name__ == '__main__':
import rostest
rostest.rosrun(PKG, 'direct_offboard_posctl_test', DirectOffboardPosctlTest)
#unittest.main()
integrationtests/demo_tests/direct_tests.launch deleted 100644 → 0
+ 0
− 22
View file @ a8a57ca2
<launch>
<arg name="headless" default="true"/>
<arg name="gui" default="false"/>
<arg name="enable_logging" default="false"/>
<arg name="enable_ground_truth" default="true"/>
<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="$(arg headless)"/>
<arg name="gui" value="$(arg gui)"/>
<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>
<group ns="$(arg ns)">
<test test-name="direct_manual_input_test" pkg="px4" type="direct_manual_input_test.py" />
<test test-name="direct_offboard_posctl_test" pkg="px4" type="direct_offboard_posctl_test.py" />
</group>
</launch>
integrationtests/demo_tests/mavros_tests.launch deleted 100644 → 0
+ 0
− 25
View file @ a8a57ca2
<launch>
<arg name="headless" default="true"/>
<arg name="gui" default="false"/>
<arg name="enable_logging" default="false"/>
<arg name="enable_ground_truth" default="true"/>
<arg name="ns" default="iris"/>
<arg name="log_file" default="$(arg ns)"/>
<include file="$(find px4)/launch/gazebo_iris_empty_world.launch">
<arg name="headless" value="$(arg headless)"/>
<arg name="gui" value="$(arg gui)"/>
<arg name="enable_logging" value="$(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="$(arg ns)"/>
</include>
<group ns="$(arg ns)">
<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" />
</group>
</launch>
integrationtests/demo_tests/mavros_offboard_attctl_test.py → integrationtests/python_src/px4_it/mavros/mavros_offboard_attctl_test.py
+ 13
− 5
View file @ bee2c987
......@@ -46,6 +46,7 @@ from std_msgs.msg import Float64
from geometry_msgs.msg import PoseStamped, Quaternion
from tf.transformations import quaternion_from_euler
from mavros_msgs.srv import CommandLong
from sensor_msgs.msg import NavSatFix
#from px4_test_helper import PX4TestHelper
class MavrosOffboardAttctlTest(unittest.TestCase):
......@@ -63,12 +64,13 @@ class MavrosOffboardAttctlTest(unittest.TestCase):
#self.helper.setUp()
rospy.Subscriber("mavros/local_position/pose", PoseStamped, self.position_callback)
rospy.Subscriber("mavros/global_position/global", NavSatFix, self.global_position_callback)
self.pub_att = rospy.Publisher('mavros/setpoint_attitude/attitude', PoseStamped, queue_size=10)
self.pub_thr = rospy.Publisher('mavros/setpoint_attitude/att_throttle', Float64, queue_size=10)
rospy.wait_for_service('mavros/cmd/command', 30)
self._srv_cmd_long = rospy.ServiceProxy('mavros/cmd/command', CommandLong, persistent=True)
self.rate = rospy.Rate(10) # 10hz
self.has_pos = False
self.has_global_pos = False
self.local_position = PoseStamped()
def tearDown(self):
......@@ -79,22 +81,28 @@ class MavrosOffboardAttctlTest(unittest.TestCase):
# General callback functions used in tests
#
def position_callback(self, data):
self.has_pos = True
self.local_position = data
def global_position_callback(self, data):
self.has_global_pos = True
def test_attctl(self):
"""Test offboard attitude control"""
# FIXME: hack to wait for simulation to be ready
while not self.has_global_pos:
self.rate.sleep()
# set some attitude and thrust
att = PoseStamped()
att.header = Header()
att.header.frame_id = "base_footprint"
att.header.stamp = rospy.Time.now()
quaternion = quaternion_from_euler(0.15, 0.15, 0)
quaternion = quaternion_from_euler(0.25, 0.25, 0)
att.pose.orientation = Quaternion(*quaternion)
throttle = Float64()
throttle.data = 0.8
throttle.data = 0.7
armed = False
# does it cross expected boundaries in X seconds?
......@@ -110,7 +118,7 @@ class MavrosOffboardAttctlTest(unittest.TestCase):
#self.helper.bag_write('mavros/setpoint_attitude/att_throttle', throttle)
self.rate.sleep()
# arm and switch to offboard
# FIXME: arm and switch to offboard
# (need to wait the first few rounds until PX4 has the offboard stream)
if not armed and count > 5:
self._srv_cmd_long(False, 176, False,
......
integrationtests/demo_tests/mavros_offboard_posctl_test.py → integrationtests/python_src/px4_it/mavros/mavros_offboard_posctl_test.py
+ 10
− 6
View file @ bee2c987
......@@ -49,6 +49,7 @@ from std_msgs.msg import Header
from geometry_msgs.msg import PoseStamped, Quaternion
from tf.transformations import quaternion_from_euler
from mavros_msgs.srv import CommandLong
from sensor_msgs.msg import NavSatFix
#from px4_test_helper import PX4TestHelper
class MavrosOffboardPosctlTest(unittest.TestCase):
......@@ -66,11 +67,12 @@ class MavrosOffboardPosctlTest(unittest.TestCase):
#self.helper.setUp()
rospy.Subscriber("mavros/local_position/pose", PoseStamped, self.position_callback)
rospy.Subscriber("mavros/global_position/global", NavSatFix, self.global_position_callback)
self.pub_spt = rospy.Publisher('mavros/setpoint_position/local', PoseStamped, queue_size=10)
rospy.wait_for_service('mavros/cmd/command', 30)
self._srv_cmd_long = rospy.ServiceProxy('mavros/cmd/command', CommandLong, persistent=True)
self.rate = rospy.Rate(10) # 10hz
self.has_pos = False
self.has_global_pos = False
self.local_position = PoseStamped()
self.armed = False
......@@ -82,17 +84,15 @@ class MavrosOffboardPosctlTest(unittest.TestCase):
# General callback functions used in tests
#
def position_callback(self, data):
self.has_pos = True
self.local_position = data
def global_position_callback(self, data):
self.has_global_pos = True
#
# Helper methods
#
def is_at_position(self, x, y, z, offset):
if not self.has_pos:
return False
rospy.logdebug("current position %f, %f, %f" %
(self.local_position.pose.position.x,
self.local_position.pose.position.y,
......@@ -127,7 +127,7 @@ class MavrosOffboardPosctlTest(unittest.TestCase):
self.pub_spt.publish(pos)
#self.helper.bag_write('mavros/setpoint_position/local', pos)
# arm and switch to offboard
# FIXME: arm and switch to offboard
# (need to wait the first few rounds until PX4 has the offboard stream)
if not self.armed and count > 5:
self._srv_cmd_long(False, 176, False,
......@@ -144,6 +144,10 @@ class MavrosOffboardPosctlTest(unittest.TestCase):
def test_posctl(self):
"""Test offboard position control"""
# FIXME: hack to wait for simulation to be ready
while not self.has_global_pos:
self.rate.sleep()
positions = (
(0, 0, 0),
(2, 2, 2),
......
integrationtests/python_src/px4_it/util/TODO.md 0 → 100644
+ 1
− 0
View file @ bee2c987
TODO: Adopt to new SITL
integrationtests/run-container.bash → integrationtests/run_container.bash
+ 1
− 1
View file @ bee2c987
......@@ -21,5 +21,5 @@ fi
# Assuming that necessary source projects, including this one, are cloned in the build server workspace of this job.
#
echo "===> run container"
docker run --rm -v "$WORKSPACE:/job:rw" px4io/px4-dev-ros bash "/job/Firmware/integrationtests/run-tests.bash"
docker run --rm -v "$WORKSPACE:/job:rw" px4io/px4-dev-ros bash "/job/Firmware/integrationtests/run_tests.bash" /job/Firmware
echo "<==="
integrationtests/run-tests.bash → integrationtests/run_tests.bash
+ 20
− 13
View file @ bee2c987
......@@ -5,48 +5,55 @@
# License: according to LICENSE.md in the root directory of the PX4 Firmware repository
set -e
SRC_DIR=/root/Firmware
if [ "$#" -lt 1 ]
then
echo usage: run_tests.bash firmware_src_dir
echo ""
exit 1
fi
SRC_DIR=$1
JOB_DIR=SRC_DIR/..
BUILD=posix_sitl_default
# TODO
ROS_TEST_RESULT_DIR=/root/.ros/test_results/px4
ROS_LOG_DIR=/root/.ros/log
PX4_LOG_DIR=${SRC_DIR}/build_${BUILD}/src/firmware/posix/rootfs/fs/microsd/log
TEST_RESULT_TARGET_DIR=/job/test_results
TEST_RESULT_TARGET_DIR=$JOB_DIR/test_results
# BAGS=/root/.ros
# CHARTS=/root/.ros/charts
# EXPORT_CHARTS=/sitl/testing/export_charts.py
# source ROS env, setup Gazebo env
# source ROS env
source /opt/ros/indigo/setup.bash
export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:${SRC_DIR}/Tools/sitl_gazebo/models
export GAZEBO_PLUGIN_PATH=${SRC_DIR}/Tools/sitl_gazebo/Build/:${GAZEBO_PLUGIN_PATH}
export LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:${SRC_DIR}/Tools/sitl_gazebo/Build/msgs/
export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:${SRC_DIR}
source $SRC_DIR/integrationtests/setup_gazebo_ros.bash $SRC_DIR
echo "deleting previous test results"
if [ -d ${TEST_RESULT_TARGET_DIR} ]; then
rm -r ${TEST_RESULT_TARGET_DIR}
fi
echo "linking source to test"
if [ -d "${SRC_DIR}" ]; then
rm -r ${SRC_DIR}
# FIXME: Firmware compilation seems to CD into this directory (/root/Firmware)
# when run from "run_container.bash"
if [ -d /root/Firmware ]; then
rm /root/Firmware
fi
ln -s /job/Firmware ${SRC_DIR}
ln -s ${SRC_DIR} /root/Firmware
echo "=====> compile"
echo "=====> compile ($SRC_DIR)"
cd $SRC_DIR
make ${BUILD}
mkdir -p Tools/sitl_gazebo/Build
cd Tools/sitl_gazebo/Build
cmake -Wno-dev ..
make -j4
make sdf
echo "<====="
# don't exit on error anymore from here on (because single tests or exports might fail)
set +e
echo "=====> run tests"
rostest px4 mavros_tests_posix.launch
rostest px4 mavros_posix_tests_iris.launch
TEST_RESULT=$?
echo "<====="
......
integrationtests/setup_gazebo_ros.bash 0 → 100755
+ 20
− 0
View file @ bee2c987
#!/bin/bash
#
# Setup environment to make PX4 visible to ROS/Gazebo.
#
# License: according to LICENSE.md in the root directory of the PX4 Firmware repository
if [ "$#" -lt 1 ]
then
echo usage: source setup_gazebo_ros.bash firmware_src_dir
echo ""
return 1
fi
SRC_DIR=$1
# setup Gazebo env and update package path
export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:${SRC_DIR}/Tools/sitl_gazebo/models
export GAZEBO_PLUGIN_PATH=${SRC_DIR}/Tools/sitl_gazebo/Build/:${GAZEBO_PLUGIN_PATH}
export LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:${SRC_DIR}/Tools/sitl_gazebo/Build/msgs/
export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:${SRC_DIR}
launch/mavros.launch 0 → 100644
+ 21
− 0
View file @ bee2c987
<launch>
<!-- MAVROS launch script PX4 (default) -->
<arg name="ns" default="/" />
<arg name="fcu_url" default="" />
<arg name="gcs_url" default="udp://:14550@:14555" />
<arg name="tgt_system" default="1" />
<arg name="tgt_component" default="1" />
<group ns="$(arg ns)">
<include file="$(find mavros)/launch/node.launch">
<arg name="pluginlists_yaml" value="$(find mavros)/launch/px4_pluginlists.yaml" />
<arg name="config_yaml" value="$(find mavros)/launch/px4_config.yaml" />
<arg name="fcu_url" value="$(arg fcu_url)" />
<arg name="gcs_url" value="$(arg gcs_url)" />
<arg name="tgt_system" value="$(arg tgt_system)" />
<arg name="tgt_component" value="$(arg tgt_component)" />
</include>
</group>
</launch>
launch/mavros_posix_sitl.launch 0 → 100644
+ 22
− 0
View file @ bee2c987
<launch>
<!-- MAVROS posix SITL environment launch script -->
<arg name="headless" default="false"/>
<arg name="gui" default="true"/>
<arg name="ns" default="/"/>
<arg name="world" default="iris"/>
<arg name="build" default="posix_sitl_default"/>
<include file="$(find px4)/launch/posix_sitl.launch">
<arg name="headless" value="$(arg headless)"/>
<arg name="gui" value="$(arg gui)"/>
<arg name="ns" value="$(arg ns)"/>
<arg name="world" value="$(arg world)"/>
<arg name="build" value="$(arg build)"/>
</include>
<include file="$(find px4)/launch/mavros.launch">
<arg name="ns" value="$(arg ns)"/>
<arg name="fcu_url" value="udp://:14567@localhost:14557"/>
</include>
</launch>
integrationtests/demo_tests/mavros_tests_posix.launch → launch/mavros_posix_tests_iris.launch
+ 18
− 0
View file @ bee2c987
<launch>
<!-- Posix SITL MAVROS integration tests -->
<arg name="ns" default="/"/>
<arg name="headless" default="true"/>
<arg name="gui" default="false"/>
<arg name="ns" default="iris"/>
<node pkg="px4" type="sitl_run.sh" name="simulator" args="posix-configs/SITL/init/rcS none gazebo iris $(find px4)/build_posix_sitl_default">
<env name="no_sim" value="1" />
</node>
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<include file="$(find px4)/launch/mavros_posix_sitl.launch">
<arg name="ns" value="$(arg ns)"/>
<arg name="headless" value="$(arg headless)"/>
<arg name="gui" value="$(arg gui)"/>
<arg name="world_name" value="$(find px4)/Tools/sitl_gazebo/worlds/iris.world" />
</include>
<include file="$(find px4)/launch/mavros_sitl.launch">
<arg name="ns" value="$(arg ns)"/>
<arg name="fcu_url" value="udp://:14567@localhost:14557"/>
<arg name="tgt_component" value="1"/>
</include>
<group ns="$(arg ns)">
......
launch/mavros_sitl.launch
+ 1
− 2
View file @ bee2c987
<launch>
<!-- vim: set ft=xml noet : -->
<!-- example launch script for PX4 based FCU's -->
<!-- MAVROS launch script for deprecated multiplatform SITL -->
<arg name="ns" default="/" />
<arg name="fcu_url" default="udp://localhost:14560@localhost:14565" />
......
launch/posix_sitl.launch 0 → 100644
+ 19
− 0
View file @ bee2c987
<launch>
<!-- Posix SITL environment launch script -->
<arg name="headless" default="false"/>
<arg name="gui" default="true"/>
<arg name="ns" default="/"/>
<arg name="world" default="iris"/>
<arg name="build" default="posix_sitl_default"/>
<node pkg="px4" type="sitl_run.sh" name="simulator" args="posix-configs/SITL/init/rcS none gazebo iris $(find px4)/build_$(arg build)">
<env name="no_sim" value="1" />
</node>
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="headless" value="$(arg headless)"/>
<arg name="gui" value="$(arg gui)"/>
<arg name="world_name" value="$(find px4)/Tools/sitl_gazebo/worlds/$(arg world).world" />
</include>
</launch>
posix-configs/SITL/init/rcS_gazebo_iris
+ 0
− 5
View file @ bee2c987
......@@ -18,11 +18,6 @@ param set CAL_ACC0_YSCALE 1.01
param set CAL_ACC0_ZSCALE 1.01
param set CAL_ACC1_XOFF 0.01
param set CAL_MAG0_XOFF 0.01
param set MPC_XY_P 0.25
param set MPC_XY_VEL_P 0.05
param set MPC_XY_VEL_D 0.005
param set MPC_XY_FF 0.1
param set MPC_Z_P 1.3
param set SENS_BOARD_ROT 8
param set SENS_BOARD_X_OFF 0.000001
param set COM_RC_IN_MODE 1
......
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