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

integrationtests/python_src/px4_it/util/flight_path_assertion.py

@@ -0,0 +1,197 @@
+#!/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>
+#
+import rospy
+import threading
+
+from px4.msg import vehicle_local_position
+from gazebo_msgs.srv import SpawnModel
+from gazebo_msgs.srv import SetModelState
+from gazebo_msgs.srv import DeleteModel
+from geometry_msgs.msg import Pose
+from geometry_msgs.msg import Twist
+
+from numpy import linalg
+import numpy as np
+
+#
+# Helper to test if vehicle stays on expected flight path.
+#
+class FlightPathAssertion(threading.Thread):
+
+    #
+    # Arguments
+    # - positions: tuple of tuples in the form (x, y, z, heading)
+    #
+    # TODO: yaw validation
+    # TODO: fail main test thread
+    #
+    def __init__(self, positions, tunnelRadius=1, yaw_offset=0.2):
+        threading.Thread.__init__(self)
+        rospy.Subscriber("vehicle_local_position", vehicle_local_position, self.position_callback)
+        self.spawn_model = rospy.ServiceProxy('/gazebo/spawn_sdf_model', SpawnModel)
+        self.set_model_state = rospy.ServiceProxy('/gazebo/set_model_state', SetModelState)
+        self.delete_model = rospy.ServiceProxy('/gazebo/delete_model', DeleteModel)
+
+        self.positions = positions
+        self.tunnel_radius = tunnelRadius
+        self.yaw_offset = yaw_offset
+        self.has_pos = False
+        self.should_stop = False
+        self.center = positions[0]
+        self.end_of_segment = False
+        self.failed = False
+        self.local_position = vehicle_local_position
+
+    def position_callback(self, data):
+        self.has_pos = True
+        self.local_position = data
+
+    def spawn_indicator(self):
+        self.delete_model("indicator")
+        xml = (
+            "<?xml version='1.0'?>" +
+            "<sdf version='1.4'>" +
+                "<model name='indicator'>" +
+                    "<static>true</static>" +
+                    "<link name='link'>" +
+                        "<visual name='visual'>" +
+                            "<transparency>0.7</transparency>" +
+                            "<geometry>" +
+                                "<sphere>" +
+                                    "<radius>%f</radius>" +
+                                "</sphere>" +
+                            "</geometry>" +
+                            "<material>" +
+                                "<ambient>1 0 0 0.5</ambient>" +
+                                "<diffuse>1 0 0 0.5</diffuse>" +
+                            "</material>" +
+                        "</visual>" +
+                    "</link>" +
+                "</model>" +
+            "</sdf>") % self.tunnel_radius
+
+        self.spawn_model("indicator", xml, "", Pose(), "")
+
+    def position_indicator(self):
+        state = SetModelState()
+        state.model_name = "indicator"
+        pose = Pose()
+        pose.position.x = self.center[0]
+        pose.position.y = (-1) * self.center[1]
+        pose.position.z = (-1) * self.center[2]
+        state.pose = pose
+        state.twist = Twist()
+        state.reference_frame = ""
+        self.set_model_state(state)
+
+    def distance_to_line(self, a, b, pos):
+        v = b - a
+        w = pos - a
+
+        c1 = np.dot(w, v)
+        if c1 <= 0: # before a
+            self.center = a
+            return linalg.norm(pos - a)
+
+        c2 = np.dot(v, v)
+        if c2 <= c1: # after b
+            self.center = b
+            self.end_of_segment = True
+            return linalg.norm(pos - b)
+
+        x = c1 / c2
+        l = a + x * v
+        self.center = l
+        return linalg.norm(pos - l)
+    
+    def stop(self):
+        self.should_stop = True
+
+    def run(self):
+        rate = rospy.Rate(10) # 10hz
+        self.spawn_indicator()
+
+        current = 0
+        count = 0
+        while not self.should_stop:
+            if self.has_pos:
+                # calculate distance to line segment between first two points
+                # if distances > tunnel_radius
+                #   exit with error
+                # advance current pos if not on the line anymore or distance to next point < tunnel_radius
+                # exit if current pos is now the last position
+
+                self.position_indicator()
+
+                pos = np.array((self.local_position.x,
+                                self.local_position.y,
+                                self.local_position.z))
+                a_pos = np.array((self.positions[current][0],
+                                self.positions[current][1],
+                                self.positions[current][2]))
+                b_pos = np.array((self.positions[current + 1][0],
+                                self.positions[current + 1][1],
+                                self.positions[current + 1][2]))
+
+                dist = self.distance_to_line(a_pos, b_pos, pos)
+                b_dist = linalg.norm(pos - b_pos)
+
+                rospy.logdebug("distance to line: %f, distance to end: %f" % (dist, b_dist))
+
+                if dist > self.tunnel_radius:
+                    msg = "left tunnel at position (%f, %f, %f)" % (self.local_position.x, self.local_position.y, self.local_position.z)
+                    rospy.logerr(msg)
+                    self.failed = True
+                    break
+
+                if self.end_of_segment or b_dist < self.tunnel_radius:
+                    rospy.loginfo("next segment")
+                    self.end_of_segment = False
+                    current = current + 1
+
+                if current == len(self.positions) - 1:
+                    rospy.loginfo("no more positions")
+                    break
+
+            rate.sleep()
+            count = count + 1
+
+            if count > 10 and not self.has_pos: # no position after 1 sec
+                rospy.logerr("no position")
+                self.failed = True
+                break