def test_posctl(self):
# FIXME: this must go ASAP when arming is implemented
manIn = ManualInput()
manIn.arm()
manIn.offboard_posctl()
self.assertTrue(self.arm(), "Could not arm")
self.rateSec.sleep()
self.rateSec.sleep()
self.assertTrue(self.controlMode.flag_armed, "flag_armed is not set after 2 seconds")
# prepare flight path
positions = (
(0,0,0),
(2,2,2),
(2,-2,2),
(-2,-2,2),
(2,2,2))
for i in range(0, len(positions)):
self.reach_position(positions[i][0], positions[i][1], positions[i][2], 120)
# does it hold the position for Y seconds?
positionHeld = True
count = 0
timeout = 50
while(count < timeout):
if(not self.is_at_position(2, 2, 2, 0.5)):
positionHeld = False
break
count = count + 1
self.rate.sleep()
self.assertTrue(count == timeout, "position could not be held")
def test_posctl(self):
# FIXME: this must go ASAP when arming is implemented
manIn = ManualInput()
manIn.arm()
manIn.offboard_posctl()
self.assertTrue(self.arm(), "Could not arm")
self.rateSec.sleep()
self.rateSec.sleep()
self.assertTrue(self.controlMode.flag_armed,
"flag_armed is not set after 2 seconds")
# prepare flight path
positions = ((0, 0, 0), (2, 2, 2), (2, -2, 2), (-2, -2, 2), (2, 2, 2))
for i in range(0, len(positions)):
self.reach_position(positions[i][0], positions[i][1],
positions[i][2], 120)
# does it hold the position for Y seconds?
positionHeld = True
count = 0
timeout = 50
while (count < timeout):
if (not self.is_at_position(2, 2, 2, 0.5)):
positionHeld = False
break
count = count + 1
self.rate.sleep()
self.assertTrue(count == timeout, "position could not be held")
def test_manual_input(self):
rospy.init_node('test_node', anonymous=True)
rospy.Subscriber('iris/actuator_armed', actuator_armed, self.actuator_armed_callback)
rospy.Subscriber('iris/vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback)
man_in = ManualInput()
# Test arming
man_in.arm()
self.assertEquals(self.actuator_status.armed, True, "did not arm")
# Test posctl
man_in.posctl()
self.assertTrue(self.control_mode.flag_control_position_enabled, "flag_control_position_enabled is not set")
# Test offboard
man_in.offboard()
self.assertTrue(self.control_mode.flag_control_offboard_enabled, "flag_control_offboard_enabled is not set")
def test_attctl(self):
# FIXME: this must go ASAP when arming is implemented
manIn = ManualInput()
manIn.arm()
manIn.offboard_attctl()
self.assertTrue(self.arm(), "Could not arm")
self.rateSec.sleep()
self.rateSec.sleep()
self.assertTrue(self.controlMode.flag_armed,
"flag_armed is not set after 2 seconds")
# set some attitude and thrust
att = PoseStamped()
att.header = Header()
att.header.frame_id = "base_footprint"
att.header.stamp = rospy.Time.now()
quaternion = quaternion_from_euler(0.15, 0.15, 0)
att.pose.orientation = Quaternion(*quaternion)
throttle = Float64()
throttle.data = 0.6
# does it cross expected boundaries in X seconds?
count = 0
timeout = 120
while (count < timeout):
# update timestamp for each published SP
att.header.stamp = rospy.Time.now()
self.pubAtt.publish(att)
self.pubThr.publish(throttle)
if (self.localPosition.pose.position.x > 5
and self.localPosition.pose.position.z > 5
and self.localPosition.pose.position.y < -5):
break
count = count + 1
self.rate.sleep()
self.assertTrue(count < timeout, "took too long to cross boundaries")
def test_posctl(self):
manIn = ManualInput()
# arm and go into offboard
manIn.arm()
manIn.offboard()
self.assertTrue(self.controlMode.flag_armed, "flag_armed is not set")
self.assertTrue(self.controlMode.flag_control_offboard_enabled, "flag_control_offboard_enabled is not set")
self.assertTrue(self.controlMode.flag_control_position_enabled, "flag_control_position_enabled is not set")
# prepare flight path
positions = (
(0,0,0),
(2,2,-2),
(2,-2,-2),
(-2,-2,-2),
(2,2,-2))
# flight path assertion
self.fpa = FlightPathAssertion(positions, 1, 0)
self.fpa.start()
for i in range(0, len(positions)):
self.reach_position(positions[i][0], positions[i][1], positions[i][2], 120)
self.assertFalse(self.fpa.failed, "breached flight path tunnel (%d)" % i)
# does it hold the position for Y seconds?
positionHeld = True
count = 0
timeout = 50
while(count < timeout):
if(not self.is_at_position(2, 2, -2, 0.5)):
positionHeld = False
break
count = count + 1
self.rate.sleep()
self.assertTrue(count == timeout, "position could not be held")
self.fpa.stop()
def test_manual_input(self):
rospy.init_node('test_node', anonymous=True)
rospy.Subscriber('iris/actuator_armed', actuator_armed,
self.actuator_armed_callback)
rospy.Subscriber('iris/vehicle_control_mode', vehicle_control_mode,
self.vehicle_control_mode_callback)
man_in = ManualInput()
# Test arming
man_in.arm()
self.assertEquals(self.actuator_status.armed, True, "did not arm")
# Test posctl
man_in.posctl()
self.assertTrue(self.control_mode.flag_control_position_enabled,
"flag_control_position_enabled is not set")
# Test offboard
man_in.offboard()
self.assertTrue(self.control_mode.flag_control_offboard_enabled,
"flag_control_offboard_enabled is not set")
def test_attctl(self):
# FIXME: this must go ASAP when arming is implemented
manIn = ManualInput()
manIn.arm()
manIn.offboard_attctl()
self.assertTrue(self.arm(), "Could not arm")
self.rateSec.sleep()
self.rateSec.sleep()
self.assertTrue(self.controlMode.flag_armed, "flag_armed is not set after 2 seconds")
# set some attitude and thrust
att = PoseStamped()
att.header = Header()
att.header.frame_id = "base_footprint"
att.header.stamp = rospy.Time.now()
quaternion = quaternion_from_euler(0.15, 0.15, 0)
att.pose.orientation = Quaternion(*quaternion)
throttle = Float64()
throttle.data = 0.6
# does it cross expected boundaries in X seconds?
count = 0
timeout = 120
while(count < timeout):
# update timestamp for each published SP
att.header.stamp = rospy.Time.now()
self.pubAtt.publish(att)
self.pubThr.publish(throttle)
if (self.localPosition.pose.position.x > 5
and self.localPosition.pose.position.z > 5
and self.localPosition.pose.position.y < -5):
break
count = count + 1
self.rate.sleep()
self.assertTrue(count < timeout, "took too long to cross boundaries")
