-
Notifications
You must be signed in to change notification settings - Fork 17.6k
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
Signed-off-by: Ryan Friedman <ryan.friedman+github@avinc.com> Co-Authored-by: Tiziano Fiorenzani
- Loading branch information
1 parent
b6f20e3
commit 1bdc635
Showing
3 changed files
with
277 additions
and
9 deletions.
There are no files selected for viewing
229 changes: 229 additions & 0 deletions
229
Tools/ros2/ardupilot_dds_tests/test/ardupilot_dds_tests/test_joy_msg_received.py
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,229 @@ | ||
| # Copyright 2023 ArduPilot.org. | ||
| # | ||
| # This program is free software: you can redistribute it and/or modify | ||
| # it under the terms of the GNU General Public License as published by | ||
| # the Free Software Foundation, either version 3 of the License, or | ||
| # (at your option) any later version. | ||
| # | ||
| # This program is distributed in the hope that it will be useful, | ||
| # but WITHOUT ANY WARRANTY; without even the implied warranty of | ||
| # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | ||
| # GNU General Public License for more details. | ||
| # | ||
| # You should have received a copy of the GNU General Public License | ||
| # along with this program. If not, see <https://www.gnu.org/licenses/>. | ||
|
|
||
| """ | ||
| Bring up ArduPilot SITL and check the Joy message is being published. | ||
| Arms the copter and commands a throttle up. Check that the vehicle climbs. | ||
| colcon test --packages-select ardupilot_dds_tests \ | ||
| --event-handlers=console_cohesion+ --pytest-args -k test_joy_msg_received | ||
| """ | ||
|
|
||
| import rclpy | ||
| import time | ||
| import launch_pytest | ||
| from rclpy.node import Node | ||
| from builtin_interfaces.msg import Time | ||
| from geographic_msgs.msg import GeoPoseStamped | ||
| from geometry_msgs.msg import TwistStamped | ||
| from geopy import point | ||
| from ardupilot_msgs.srv import ArmMotors | ||
| from ardupilot_msgs.srv import ModeSwitch | ||
| from sensor_msgs.msg import Joy | ||
| from scipy.spatial.transform import Rotation as R | ||
| import pytest | ||
| from launch_pytest.tools import process as process_tools | ||
| from launch import LaunchDescription | ||
| import threading | ||
|
|
||
| GUIDED = 4 | ||
| LOITER = 5 | ||
|
|
||
| FRAME_GLOBAL_INT = 5 | ||
|
|
||
| # Hard code some known locations | ||
| # Note - Altitude in geopy is in km! | ||
| GRAYHOUND_TRACK = point.Point(latitude=-35.345996, longitude=149.159017, altitude=0.575) | ||
| CMAC = point.Point(latitude=-35.3627010, longitude=149.1651513, altitude=0.585) | ||
|
|
||
|
|
||
| class PlaneFbwbJoyControl(Node): | ||
| """Plane follow waypoints using guided control.""" | ||
|
|
||
| def __init__(self): | ||
| """Initialise the node.""" | ||
| super().__init__("copter_joy_listener") | ||
|
|
||
| self.arming_event_object = threading.Event() | ||
| self.mode_event_object = threading.Event() | ||
| self.climbing_event_object = threading.Event() | ||
|
|
||
| self._client_arm = self.create_client(ArmMotors, "/ap/arm_motors") | ||
|
|
||
| self._client_mode_switch = self.create_client(ModeSwitch, "/ap/mode_switch") | ||
|
|
||
| self._joy_pub = self.create_publisher(Joy, "/ap/joy", 1) | ||
|
|
||
| # Create subscriptions after services are up | ||
| qos = rclpy.qos.QoSProfile( | ||
| reliability=rclpy.qos.ReliabilityPolicy.BEST_EFFORT, durability=rclpy.qos.DurabilityPolicy.VOLATILE, depth=1 | ||
| ) | ||
| self._subscription_geopose = self.create_subscription(GeoPoseStamped, "/ap/geopose/filtered", self.geopose_cb, qos) | ||
| self._cur_geopose = GeoPoseStamped() | ||
|
|
||
| self._subscription_twist = self.create_subscription(TwistStamped, "/ap/twist/filtered", self.twist_cb, qos) | ||
| self._climb_rate = 0.0 | ||
|
|
||
| # Add a spin thread. | ||
| self.ros_spin_thread = threading.Thread(target=lambda node: rclpy.spin(node), args=(self,)) | ||
| self.ros_spin_thread.start() | ||
|
|
||
| def geopose_cb(self, msg: GeoPoseStamped): | ||
| """Process a GeoPose message.""" | ||
| stamp = msg.header.stamp | ||
| if stamp.sec: | ||
| # Store current state | ||
| self._cur_geopose = msg | ||
|
|
||
| def twist_cb(self, msg: TwistStamped): | ||
| """Process a Twist message.""" | ||
| linear = msg.twist.linear | ||
| self._climb_rate = linear.z | ||
|
|
||
| def arm(self): | ||
| req = ArmMotors.Request() | ||
| req.arm = True | ||
| future = self._client_arm.call_async(req) | ||
| time.sleep(0.2) | ||
| try: | ||
| return future.result().result | ||
| except: | ||
| return False | ||
|
|
||
| def arm_with_timeout(self, timeout: rclpy.duration.Duration): | ||
| """Try to arm. Returns true on success, or false if arming fails or times out.""" | ||
| armed = False | ||
| start = self.get_clock().now() | ||
| while not armed and self.get_clock().now() - start < timeout: | ||
| armed = self.arm() | ||
| time.sleep(1) | ||
| return armed | ||
|
|
||
| def switch_mode(self, mode): | ||
| req = ModeSwitch.Request() | ||
| req.mode = mode | ||
| future = self._client_mode_switch.call_async(req) | ||
| time.sleep(1) | ||
| try: | ||
| return future.result().status and future.result().curr_mode == mode | ||
| except: | ||
| return False | ||
|
|
||
| def switch_mode_with_timeout(self, desired_mode: int, timeout: rclpy.duration.Duration): | ||
| """Try to switch mode. Returns true on success, or false if mode switch fails or times out.""" | ||
| is_in_desired_mode = False | ||
| start = self.get_clock().now() | ||
| while not is_in_desired_mode: | ||
| is_in_desired_mode = self.switch_mode(desired_mode) | ||
| time.sleep(1) | ||
|
|
||
| return is_in_desired_mode | ||
|
|
||
| def get_cur_geopose(self): | ||
| """Return latest geopose.""" | ||
| return self._cur_geopose | ||
|
|
||
| def send_joy_value(self, joy_val): | ||
| self._joy_pub.publish(joy_val) | ||
|
|
||
| #-------------- PROCESSES ----------------- | ||
| def process_arm(self): | ||
| if self.arm_with_timeout(rclpy.duration.Duration(seconds=30)): | ||
| self.arming_event_object.set() | ||
|
|
||
| def start_arm(self): | ||
| self.arm_thread = threading.Thread(target=self.process_arm) | ||
| self.arm_thread.start() | ||
|
|
||
| def process_climb(self): | ||
| joy_msg = Joy() | ||
| joy_msg.axes.append(0.0) | ||
| joy_msg.axes.append(0.0) | ||
| joy_msg.axes.append(0.8) #- straight up | ||
| joy_msg.axes.append(0.0) | ||
|
|
||
| while True: | ||
| self.send_joy_value(joy_msg) | ||
| self.arm() #- Keep the system armed (sometimes it disarms and the test fails) | ||
| time.sleep(0.1) | ||
| self.get_logger().info("From AP : Climb rate {}".format(self._climb_rate)) | ||
| if self._climb_rate > 0.5: | ||
| self.climbing_event_object.set() | ||
| return | ||
|
|
||
| def climb(self): | ||
| self.climb_thread = threading.Thread(target=self.process_climb) | ||
| self.climb_thread.start() | ||
|
|
||
| def arm_and_takeoff_process(self): | ||
| self.process_arm() | ||
| self.climb() | ||
|
|
||
| def arm_and_takeoff(self): | ||
| self.climb_thread = threading.Thread(target=self.arm_and_takeoff_process) | ||
| self.climb_thread.start() | ||
|
|
||
| @launch_pytest.fixture | ||
| def launch_sitl_copter_dds_serial(sitl_copter_dds_serial): | ||
| """Fixture to create the launch description.""" | ||
| sitl_ld, sitl_actions = sitl_copter_dds_serial | ||
|
|
||
| ld = LaunchDescription( | ||
| [ | ||
| sitl_ld, | ||
| launch_pytest.actions.ReadyToTest(), | ||
| ] | ||
| ) | ||
| actions = sitl_actions | ||
| yield ld, actions | ||
|
|
||
| @launch_pytest.fixture | ||
| def launch_sitl_copter_dds_udp(sitl_copter_dds_udp): | ||
| """Fixture to create the launch description.""" | ||
| sitl_ld, sitl_actions = sitl_copter_dds_udp | ||
|
|
||
| ld = LaunchDescription( | ||
| [ | ||
| sitl_ld, | ||
| launch_pytest.actions.ReadyToTest(), | ||
| ] | ||
| ) | ||
| actions = sitl_actions | ||
| yield ld, actions | ||
|
|
||
| @pytest.mark.launch(fixture=launch_sitl_copter_dds_udp) | ||
| def test_dds_udp_joy_msg_recv(launch_context, launch_sitl_copter_dds_udp): | ||
| """Test joy messages are published by AP_DDS.""" | ||
| _, actions = launch_sitl_copter_dds_udp | ||
| micro_ros_agent = actions["micro_ros_agent"].action | ||
| mavproxy = actions["mavproxy"].action | ||
| sitl = actions["sitl"].action | ||
|
|
||
| # Wait for process to start. | ||
| process_tools.wait_for_start_sync(launch_context, micro_ros_agent, timeout=2) | ||
| process_tools.wait_for_start_sync(launch_context, mavproxy, timeout=2) | ||
| process_tools.wait_for_start_sync(launch_context, sitl, timeout=2) | ||
|
|
||
| rclpy.init() | ||
| try: | ||
| node = PlaneFbwbJoyControl() | ||
| node.arm_and_takeoff() | ||
| climb_flag = node.climbing_event_object.wait(10) | ||
| assert climb_flag, "Could not climb" | ||
| finally: | ||
| rclpy.shutdown() | ||
| yield |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters