mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
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
This commit is contained in:
Andreas Antener
parent
a8a57ca20c
commit
bee2c98785
@ -1,90 +0,0 @@
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#!/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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from px4.msg import actuator_armed
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from px4.msg import vehicle_control_mode
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from manual_input import ManualInput
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#
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# Tests if commander reacts to manual input and sets control flags accordingly
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#
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class ManualInputTest(unittest.TestCase):
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def setUp(self):
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self.actuator_status = actuator_armed()
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self.control_mode = vehicle_control_mode()
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#
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# General callback functions used in tests
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#
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def actuator_armed_callback(self, data):
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self.actuator_status = data
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def vehicle_control_mode_callback(self, data):
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self.control_mode = data
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#
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# Test arming
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#
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def test_manual_input(self):
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rospy.init_node('test_node', anonymous=True)
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rospy.Subscriber('actuator_armed', actuator_armed, self.actuator_armed_callback)
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rospy.Subscriber('vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback)
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man_in = ManualInput()
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# Test arming
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man_in.arm()
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self.assertEquals(self.actuator_status.armed, True, "did not arm")
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# Test posctl
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man_in.posctl()
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self.assertTrue(self.control_mode.flag_control_position_enabled, "flag_control_position_enabled is not set")
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# Test offboard
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man_in.offboard()
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self.assertTrue(self.control_mode.flag_control_offboard_enabled, "flag_control_offboard_enabled is not set")
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if __name__ == '__main__':
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import rostest
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rostest.rosrun(PKG, 'direct_manual_input_test', ManualInputTest)
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@ -1,175 +0,0 @@
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#!/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 numpy import linalg
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import numpy as np
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from px4.msg import vehicle_local_position
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from px4.msg import vehicle_control_mode
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from px4.msg import position_setpoint_triplet
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from px4.msg import position_setpoint
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from px4.msg import vehicle_local_position_setpoint
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from manual_input import ManualInput
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from flight_path_assertion import FlightPathAssertion
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from px4_test_helper import PX4TestHelper
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#
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# Tests flying a path in offboard control by directly sending setpoints
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# to the position controller (position_setpoint_triplet).
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#
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# For the test to be successful it needs to stay on the predefined path
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# and reach all setpoints in a certain time.
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#
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class DirectOffboardPosctlTest(unittest.TestCase):
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def setUp(self):
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rospy.init_node('test_node', anonymous=True)
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self.helper = PX4TestHelper("direct_offboard_posctl_test")
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self.helper.setUp()
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rospy.Subscriber('vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback)
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self.sub_vlp = rospy.Subscriber("vehicle_local_position", vehicle_local_position, self.position_callback)
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self.pub_spt = rospy.Publisher('position_setpoint_triplet', position_setpoint_triplet, queue_size=10)
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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 = vehicle_local_position()
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self.control_mode = vehicle_control_mode()
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def tearDown(self):
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if self.fpa:
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self.fpa.stop()
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self.helper.tearDown()
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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 vehicle_control_mode_callback(self, data):
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self.control_mode = data
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#
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# Helper methods
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#
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def is_at_position(self, x, y, z, offset):
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rospy.logdebug("current position %f, %f, %f" % (self.local_position.x, self.local_position.y, self.local_position.z))
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desired = np.array((x, y, z))
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pos = np.array((self.local_position.x, self.local_position.y, self.local_position.z))
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return linalg.norm(desired - pos) < offset
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def reach_position(self, x, y, z, timeout):
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# set a position setpoint
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pos = position_setpoint()
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pos.valid = True
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pos.x = x
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pos.y = y
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pos.z = z
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pos.position_valid = True
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stp = position_setpoint_triplet()
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stp.current = pos
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self.pub_spt.publish(stp)
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self.helper.bag_write('px4/position_setpoint_triplet', stp)
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# does it reach the position in X seconds?
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count = 0
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while count < timeout:
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if self.is_at_position(pos.x, pos.y, pos.z, 0.5):
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break
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count = count + 1
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self.rate.sleep()
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self.assertTrue(count < timeout, "took too long to get to position")
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#
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# Test offboard position control
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#
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def test_posctl(self):
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man_in = ManualInput()
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# arm and go into offboard
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man_in.arm()
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man_in.offboard()
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self.assertTrue(self.control_mode.flag_armed, "flag_armed is not set")
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self.assertTrue(self.control_mode.flag_control_offboard_enabled, "flag_control_offboard_enabled is not set")
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self.assertTrue(self.control_mode.flag_control_position_enabled, "flag_control_position_enabled is not set")
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# prepare flight path
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positions = (
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(0, 0, 0),
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(0, 0, -2),
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(2, 2, -2),
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(2, -2, -2),
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(-2, -2, -2),
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(2, 2, -2))
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# flight path assertion
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self.fpa = FlightPathAssertion(positions, 1, 0)
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self.fpa.start()
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for i in range(0, len(positions)):
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self.reach_position(positions[i][0], positions[i][1], positions[i][2], 120)
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self.assertFalse(self.fpa.failed, "breached flight path tunnel (%d)" % i)
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# does it hold the position for Y seconds?
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count = 0
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timeout = 50
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while count < timeout:
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if not self.is_at_position(2, 2, -2, 0.5):
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break
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count = count + 1
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self.rate.sleep()
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self.assertTrue(count == timeout, "position could not be held")
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self.fpa.stop()
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if __name__ == '__main__':
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import rostest
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rostest.rosrun(PKG, 'direct_offboard_posctl_test', DirectOffboardPosctlTest)
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#unittest.main()
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@ -1,22 +0,0 @@
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<launch>
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<arg name="headless" default="true"/>
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<arg name="gui" default="false"/>
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<arg name="enable_logging" default="false"/>
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<arg name="enable_ground_truth" default="true"/>
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<arg name="ns" default="iris"/>
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<arg name="log_file" default="$(arg ns)"/>
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<include file="$(find px4)/launch/gazebo_iris_empty_world.launch">
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<arg name="headless" value="$(arg headless)"/>
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<arg name="gui" value="$(arg gui)"/>
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<arg name="enable_logging" value="$(arg enable_logging)" />
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<arg name="enable_ground_truth" value="$(arg enable_ground_truth)" />
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<arg name="log_file" value="$(arg log_file)"/>
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<arg name="ns" value="$(arg ns)"/>
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</include>
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<group ns="$(arg ns)">
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<test test-name="direct_manual_input_test" pkg="px4" type="direct_manual_input_test.py" />
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<test test-name="direct_offboard_posctl_test" pkg="px4" type="direct_offboard_posctl_test.py" />
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</group>
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</launch>
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<launch>
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<arg name="headless" default="true"/>
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<arg name="gui" default="false"/>
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<arg name="enable_logging" default="false"/>
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<arg name="enable_ground_truth" default="true"/>
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<arg name="ns" default="iris"/>
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<arg name="log_file" default="$(arg ns)"/>
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<include file="$(find px4)/launch/gazebo_iris_empty_world.launch">
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<arg name="headless" value="$(arg headless)"/>
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<arg name="gui" value="$(arg gui)"/>
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<arg name="enable_logging" value="$(arg enable_logging)" />
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<arg name="enable_ground_truth" value="$(arg enable_ground_truth)" />
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<arg name="log_file" value="$(arg log_file)"/>
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<arg name="ns" value="$(arg ns)"/>
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</include>
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<include file="$(find px4)/launch/mavros_sitl.launch">
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<arg name="ns" value="$(arg ns)"/>
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</include>
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<group ns="$(arg ns)">
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<test test-name="mavros_offboard_posctl_test" pkg="px4" type="mavros_offboard_posctl_test.py" />
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<test test-name="mavros_offboard_attctl_test" pkg="px4" type="mavros_offboard_attctl_test.py" />
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</group>
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</launch>
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<launch>
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<arg name="headless" default="true"/>
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<arg name="gui" default="false"/>
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<arg name="ns" default="iris"/>
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<node pkg="px4" type="sitl_run.sh" name="simulator" args="posix-configs/SITL/init/rcS none gazebo iris $(find px4)/build_posix_sitl_default">
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<env name="no_sim" value="1" />
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</node>
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<include file="$(find gazebo_ros)/launch/empty_world.launch">
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<arg name="headless" value="$(arg headless)"/>
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<arg name="gui" value="$(arg gui)"/>
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<arg name="world_name" value="$(find px4)/Tools/sitl_gazebo/worlds/iris.world" />
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</include>
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<include file="$(find px4)/launch/mavros_sitl.launch">
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<arg name="ns" value="$(arg ns)"/>
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<arg name="fcu_url" value="udp://:14567@localhost:14557"/>
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<arg name="tgt_component" value="1"/>
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</include>
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<group ns="$(arg ns)">
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<test test-name="mavros_offboard_posctl_test" pkg="px4" type="mavros_offboard_posctl_test.py" time-limit="120.0" />
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<test test-name="mavros_offboard_attctl_test" pkg="px4" type="mavros_offboard_attctl_test.py" />
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</group>
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</launch>
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@ -46,6 +46,7 @@ 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 sensor_msgs.msg import NavSatFix
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#from px4_test_helper import PX4TestHelper
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class MavrosOffboardAttctlTest(unittest.TestCase):
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@ -63,12 +64,13 @@ class MavrosOffboardAttctlTest(unittest.TestCase):
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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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rospy.Subscriber("mavros/global_position/global", NavSatFix, self.global_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.has_global_pos = False
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self.local_position = PoseStamped()
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def tearDown(self):
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@ -79,22 +81,28 @@ class MavrosOffboardAttctlTest(unittest.TestCase):
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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 global_position_callback(self, data):
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self.has_global_pos = True
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def test_attctl(self):
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"""Test offboard attitude control"""
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# FIXME: hack to wait for simulation to be ready
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while not self.has_global_pos:
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self.rate.sleep()
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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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quaternion = quaternion_from_euler(0.25, 0.25, 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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throttle.data = 0.7
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armed = False
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# does it cross expected boundaries in X seconds?
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@ -110,7 +118,7 @@ class MavrosOffboardAttctlTest(unittest.TestCase):
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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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# FIXME: 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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@ -49,6 +49,7 @@ from std_msgs.msg import Header
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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 sensor_msgs.msg import NavSatFix
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#from px4_test_helper import PX4TestHelper
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class MavrosOffboardPosctlTest(unittest.TestCase):
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@ -66,11 +67,12 @@ class MavrosOffboardPosctlTest(unittest.TestCase):
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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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rospy.Subscriber("mavros/global_position/global", NavSatFix, self.global_position_callback)
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self.pub_spt = rospy.Publisher('mavros/setpoint_position/local', PoseStamped, 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.has_global_pos = False
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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),
|
||||
1
integrationtests/python_src/px4_it/util/TODO.md
Normal file
1
integrationtests/python_src/px4_it/util/TODO.md
Normal file
@ -0,0 +1 @@
|
||||
TODO: Adopt to new SITL
|
||||
@ -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 "<==="
|
||||
@ -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 "<====="
|
||||
|
||||
20
integrationtests/setup_gazebo_ros.bash
Executable file
20
integrationtests/setup_gazebo_ros.bash
Executable file
@ -0,0 +1,20 @@
|
||||
#!/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}:${SRC_DIR}
|
||||
21
launch/mavros.launch
Normal file
21
launch/mavros.launch
Normal file
@ -0,0 +1,21 @@
|
||||
<launch>
|
||||
<!-- MAVROS launch script PX4 (default) -->
|
||||
|
||||
<arg name="ns" default="/" />
|
||||
<arg name="fcu_url" default="" />
|
||||
<arg name="gcs_url" default="udp://:14550@:14555" />
|
||||
<arg name="tgt_system" default="1" />
|
||||
<arg name="tgt_component" default="1" />
|
||||
|
||||
<group ns="$(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="$(arg tgt_component)" />
|
||||
</include>
|
||||
</group>
|
||||
</launch>
|
||||
22
launch/mavros_posix_sitl.launch
Normal file
22
launch/mavros_posix_sitl.launch
Normal file
@ -0,0 +1,22 @@
|
||||
<launch>
|
||||
<!-- MAVROS posix SITL environment launch script -->
|
||||
|
||||
<arg name="headless" default="false"/>
|
||||
<arg name="gui" default="true"/>
|
||||
<arg name="ns" default="/"/>
|
||||
<arg name="world" default="iris"/>
|
||||
<arg name="build" default="posix_sitl_default"/>
|
||||
|
||||
<include file="$(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="$(arg ns)"/>
|
||||
<arg name="fcu_url" value="udp://:14567@localhost:14557"/>
|
||||
</include>
|
||||
</launch>
|
||||
18
launch/mavros_posix_tests_iris.launch
Normal file
18
launch/mavros_posix_tests_iris.launch
Normal file
@ -0,0 +1,18 @@
|
||||
<launch>
|
||||
<!-- Posix SITL MAVROS integration tests -->
|
||||
|
||||
<arg name="ns" default="/"/>
|
||||
<arg name="headless" default="true"/>
|
||||
<arg name="gui" default="false"/>
|
||||
|
||||
<include file="$(find px4)/launch/mavros_posix_sitl.launch">
|
||||
<arg name="ns" value="$(arg ns)"/>
|
||||
<arg name="headless" value="$(arg headless)"/>
|
||||
<arg name="gui" value="$(arg gui)"/>
|
||||
</include>
|
||||
|
||||
<group ns="$(arg ns)">
|
||||
<test test-name="mavros_offboard_posctl_test" pkg="px4" type="mavros_offboard_posctl_test.py" time-limit="120.0" />
|
||||
<test test-name="mavros_offboard_attctl_test" pkg="px4" type="mavros_offboard_attctl_test.py" />
|
||||
</group>
|
||||
</launch>
|
||||
@ -1,6 +1,5 @@
|
||||
<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" />
|
||||
|
||||
19
launch/posix_sitl.launch
Normal file
19
launch/posix_sitl.launch
Normal file
@ -0,0 +1,19 @@
|
||||
<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>
|
||||
@ -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
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user