mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Remove obstacle avoidance test with Gazebo classic and ROS 1
This commit is contained in:
Matthias Grob
Silvan Fuhrer
parent
0b370ab5d3
commit
ed9111ec49
4
Makefile
4
Makefile
@ -457,10 +457,6 @@ tests_offboard: rostest
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@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test
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@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_offboard_rpyrt_ctl.test
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tests_avoidance: rostest
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@"$(SRC_DIR)"/test/rostest_avoidance_run.sh mavros_posix_test_avoidance.test
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@"$(SRC_DIR)"/test/rostest_avoidance_run.sh mavros_posix_test_safe_landing.test
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python_coverage:
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@mkdir -p "$(SRC_DIR)"/build/python_coverage
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@cd "$(SRC_DIR)"/build/python_coverage && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=px4_sitl_default -DPYTHON_COVERAGE=ON
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@ -1,30 +0,0 @@
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#!/bin/sh
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#
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# @name 3DR Iris Quadrotor SITL (Obstacle Avoidance)
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#
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# @type Quadrotor Wide
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#
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. ${R}etc/init.d/rc.mc_defaults
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param set-default CA_AIRFRAME 0
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param set-default CA_ROTOR_COUNT 4
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param set-default CA_ROTOR0_PX 0.1515
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param set-default CA_ROTOR0_PY 0.245
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param set-default CA_ROTOR0_KM 0.05
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param set-default CA_ROTOR1_PX -0.1515
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param set-default CA_ROTOR1_PY -0.1875
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param set-default CA_ROTOR1_KM 0.05
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param set-default CA_ROTOR2_PX 0.1515
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param set-default CA_ROTOR2_PY -0.245
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param set-default CA_ROTOR2_KM -0.05
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param set-default CA_ROTOR3_PX -0.1515
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param set-default CA_ROTOR3_PY 0.1875
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param set-default CA_ROTOR3_KM -0.05
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param set-default PWM_MAIN_FUNC1 101
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param set-default PWM_MAIN_FUNC2 102
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param set-default PWM_MAIN_FUNC3 103
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param set-default PWM_MAIN_FUNC4 104
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@ -1,2 +0,0 @@
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# shellcheck disable=SC2154
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mavlink start -x -u 14558 -r 4000000 -m onboard -o 14541 -p # add mavlink stream for SDK
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@ -39,8 +39,6 @@ px4_add_romfs_files(
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1012_gazebo-classic_iris_rplidar
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1013_gazebo-classic_iris_vision
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1013_gazebo-classic_iris_vision.post
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1014_gazebo-classic_iris_obs_avoid
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1014_gazebo-classic_iris_obs_avoid.post
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1015_gazebo-classic_iris_depth_camera
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1016_gazebo-classic_iris_downward_depth_camera
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1017_gazebo-classic_iris_opt_flow_mockup
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@ -1,88 +0,0 @@
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{
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"fileType": "Plan",
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"geoFence": {
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"circles": [
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],
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"polygons": [
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],
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"version": 2
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},
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"groundStation": "QGroundControl",
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"mission": {
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"cruiseSpeed": 15,
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"firmwareType": 12,
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"hoverSpeed": 5,
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"items": [
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{
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"AMSLAltAboveTerrain": null,
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"Altitude": 4,
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"AltitudeMode": 0,
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"autoContinue": true,
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"command": 22,
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"doJumpId": 1,
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"frame": 3,
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"params": [
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0,
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0,
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0,
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null,
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47.3977432,
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8.5456085,
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4
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],
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"type": "SimpleItem"
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},
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{
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"AMSLAltAboveTerrain": null,
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"Altitude": 4,
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"AltitudeMode": 0,
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"autoContinue": true,
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"command": 16,
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"doJumpId": 2,
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"frame": 3,
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"params": [
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0,
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0,
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0,
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null,
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47.3977432,
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8.5458765,
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4
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],
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"type": "SimpleItem"
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},
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{
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"AMSLAltAboveTerrain": null,
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"Altitude": -1,
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"AltitudeMode": 0,
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"autoContinue": true,
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"command": 21,
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"doJumpId": 3,
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"frame": 3,
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"params": [
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0,
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0,
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0,
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null,
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47.3977432,
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8.5458812,
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-1
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],
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"type": "SimpleItem"
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}
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],
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"plannedHomePosition": [
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47.3977419,
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8.5458854,
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487.923
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],
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"vehicleType": 2,
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"version": 2
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},
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"rallyPoints": {
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"points": [
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],
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"version": 2
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},
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"version": 1
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}
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@ -80,7 +80,6 @@ if(gazebo_FOUND)
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iris_dual_gps
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iris_foggy_lidar
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iris_irlock
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iris_obs_avoid
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iris_depth_camera
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iris_downward_depth_camera
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iris_opt_flow
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@ -1,52 +0,0 @@
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<?xml version="1.0"?>
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<launch>
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<!-- Posix SITL MAVROS integration tests -->
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<!-- Test a mission -->
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<arg name="est" default="ekf2"/>
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<arg name="gui" default="false"/>
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<arg name="interactive" default="false"/>
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<arg name="mission" default="avoidance"/>
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<arg name="sdf" default="$(find avoidance)/sim/models/iris_depth_camera_3/iris_depth_camera.sdf"/>
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<arg name="vehicle" default="iris_obs_avoid"/>
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<arg name="world" default="$(find avoidance)/sim/worlds/boxes1.world"/>
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<!-- PX4 SITL and Gazebo -->
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<include file="$(find px4)/launch/posix_sitl.launch">
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<arg name="est" value="$(arg est)"/>
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<arg name="gui" value="$(arg gui)"/>
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<arg name="interactive" value="$(arg interactive)"/>
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<arg name="respawn_gazebo" value="true"/>
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<arg name="sdf" value="$(arg sdf)"/>
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<arg name="vehicle" value="$(arg vehicle)"/>
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<arg name="verbose" value="true"/>
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<arg name="world" value="$(arg world)"/>
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</include>
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<!-- MAVROS -->
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<include file="$(find mavros)/launch/node.launch">
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<arg name="pluginlists_yaml" value="$(find mavros)/launch/px4_pluginlists.yaml"/>
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<arg name="config_yaml" value="$(find local_planner)/resource/px4_config.yaml"/>
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<arg name="gcs_url" value=""/>
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<arg name="fcu_url" value="udp://:14540@localhost:14557"/>
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<arg name="tgt_system" value="1"/>
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<arg name="tgt_component" value="1"/>
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<arg name="respawn_mavros" value="true"/>
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</include>
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<!-- Transformation Publishers -->
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<node pkg="tf" type="static_transform_publisher" name="tf_front_camera"
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args="0 0 0 -1.57 0 -1.57 fcu front_camera_link 10"/>
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<node pkg="tf" type="static_transform_publisher" name="tf_right_camera"
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args="0 0 0 -3.14 0 -1.57 fcu right_camera_link 10"/>
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<node pkg="tf" type="static_transform_publisher" name="tf_left_camera"
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args="0 0 0 0 0 -1.57 fcu left_camera_link 10"/>
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<!-- Suppress console outputs -->
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<env name="ROSCONSOLE_CONFIG_FILE" value="$(find local_planner)/resource/custom_rosconsole.conf"/>
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<!-- Launch Local Planner -->
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<arg name="pointcloud_topics" default="[/camera_front/depth/points,/camera_left/depth/points,/camera_right/depth/points]"/>
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<node name="local_planner_node" pkg="local_planner" type="local_planner_node" output="screen">
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<param name="goal_x_param" value="17" />
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<param name="goal_y_param" value="15"/>
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<param name="goal_z_param" value="3" />
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<rosparam param="pointcloud_topics" subst_value="True">$(arg pointcloud_topics)</rosparam>
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</node>
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<!-- ROStest -->
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<test test-name="$(arg mission)" pkg="px4" type="mission_test.py" time-limit="300.0" args="$(arg mission).plan"/>
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</launch>
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@ -1,20 +0,0 @@
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#! /bin/bash
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DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
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PX4_SRC_DIR=${DIR}/..
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source /opt/ros/${ROS_DISTRO:-kinetic}/setup.bash
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mkdir -p ${PX4_SRC_DIR}/catkin_ws/src
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cd ${PX4_SRC_DIR}/catkin_ws/
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git clone -b 0.3.1 --single-branch --depth 1 https://github.com/PX4/avoidance.git src/avoidance
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catkin init
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catkin build local_planner safe_landing_planner --cmake-args -DCMAKE_BUILD_TYPE=Release
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source ${PX4_SRC_DIR}/catkin_ws/devel/setup.bash
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source /usr/share/gazebo/setup.sh
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export CATKIN_SETUP_UTIL_ARGS=--extend
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export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:${PX4_SRC_DIR}/catkin_ws/src/avoidance/avoidance/sim/models
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source $DIR/rostest_px4_run.sh "$@"
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