fly316/PX4-Autopilot
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write rosbags

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This commit is contained in:
Andreas Antener 2015-03-15 20:39:57 +01:00
parent 0daf2232ec
commit f3a2c66e89
3 changed files with 32 additions and 1 deletions
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9
integrationtests/demo_tests/direct_offboard_posctl_test.py
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@ -39,6 +39,7 @@ PKG = 'px4'
import unittest
import rospy
import rosbag
from numpy import linalg
import numpy as np
@ -62,8 +63,9 @@ class DirectOffboardPosctlTest(unittest.TestCase):
def setUp(self):
rospy.init_node('test_node', anonymous=True)
self.bag = rosbag.Bag('direct_offboard_posctl_test.bag', 'w', compression="lz4")
rospy.Subscriber('iris/vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback)
rospy.Subscriber("iris/vehicle_local_position", vehicle_local_position, self.position_callback)
self.sub_vlp = rospy.Subscriber("iris/vehicle_local_position", vehicle_local_position, self.position_callback)
self.pub_spt = rospy.Publisher('iris/position_setpoint_triplet', position_setpoint_triplet, queue_size=10)
self.rate = rospy.Rate(10) # 10hz
self.has_pos = False
@ -74,12 +76,17 @@ class DirectOffboardPosctlTest(unittest.TestCase):
if self.fpa:
self.fpa.stop()
self.sub_vlp.unregister()
self.rate.sleep()
self.bag.close()
#
# General callback functions used in tests
#
def position_callback(self, data):
self.has_pos = True
self.local_position = data
self.bag.write('vehicle_local_position', data)
def vehicle_control_mode_callback(self, data):
self.control_mode = data

12
integrationtests/demo_tests/mavros_offboard_attctl_test.py
View File

@ -39,8 +39,10 @@ PKG = 'px4'
import unittest
import rospy
import rosbag
from px4.msg import vehicle_control_mode
from px4.msg import vehicle_local_position
from std_msgs.msg import Header
from std_msgs.msg import Float64
from geometry_msgs.msg import PoseStamped, Quaternion
@ -56,8 +58,10 @@ class MavrosOffboardAttctlTest(unittest.TestCase):
def setUp(self):
rospy.init_node('test_node', anonymous=True)
self.bag = rosbag.Bag('mavros_offboard_attctl_test.bag', 'w', compression="lz4")
rospy.wait_for_service('iris/mavros/cmd/arming', 30)
rospy.Subscriber('iris/vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback)
self.sub_vlp = rospy.Subscriber("iris/vehicle_local_position", vehicle_local_position, self.vehicle_position_callback)
rospy.Subscriber("iris/mavros/position/local", PoseStamped, self.position_callback)
self.pub_att = rospy.Publisher('iris/mavros/setpoint/attitude', PoseStamped, queue_size=10)
self.pub_thr = rospy.Publisher('iris/mavros/setpoint/att_throttle', Float64, queue_size=10)
@ -66,9 +70,17 @@ class MavrosOffboardAttctlTest(unittest.TestCase):
self.control_mode = vehicle_control_mode()
self.local_position = PoseStamped()
def tearDown(self):
self.sub_vlp.unregister()
self.rate.sleep()
self.bag.close()
#
# General callback functions used in tests
#
def vehicle_position_callback(self, data):
self.bag.write('vehicle_local_position', data)
def position_callback(self, data):
self.has_pos = True
self.local_position = data

12
integrationtests/demo_tests/mavros_offboard_posctl_test.py
View File

@ -40,11 +40,13 @@ PKG = 'px4'
import unittest
import rospy
import math
import rosbag
from numpy import linalg
import numpy as np
from px4.msg import vehicle_control_mode
from px4.msg import vehicle_local_position
from std_msgs.msg import Header
from geometry_msgs.msg import PoseStamped, Quaternion
from tf.transformations import quaternion_from_euler
@ -60,7 +62,9 @@ class MavrosOffboardPosctlTest(unittest.TestCase):
def setUp(self):
rospy.init_node('test_node', anonymous=True)
self.bag = rosbag.Bag('mavros_offboard_posctl_test.bag', 'w', compression="lz4")
rospy.Subscriber('iris/vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback)
self.sub_vlp = rospy.Subscriber("iris/vehicle_local_position", vehicle_local_position, self.vehicle_position_callback)
rospy.Subscriber("iris/mavros/position/local", PoseStamped, self.position_callback)
self.pub_spt = rospy.Publisher('iris/mavros/setpoint/local_position', PoseStamped, queue_size=10)
self.rate = rospy.Rate(10) # 10hz
@ -68,9 +72,17 @@ class MavrosOffboardPosctlTest(unittest.TestCase):
self.local_position = PoseStamped()
self.control_mode = vehicle_control_mode()
def tearDown(self):
self.sub_vlp.unregister()
self.rate.sleep()
self.bag.close()
#
# General callback functions used in tests
#
def vehicle_position_callback(self, data):
self.bag.write('vehicle_local_position', data)
def position_callback(self, data):
self.has_pos = True
self.local_position = data