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fixed RC mode with bumper, + BDD test
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,16 @@ | ||
| get_filename_component(TEST_NAME "${CMAKE_CURRENT_SOURCE_DIR}" NAME) | ||
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| catkin_add_executable_with_gtest(test_${TEST_NAME} | ||
| test.cpp | ||
| ) | ||
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| target_link_libraries(test_${TEST_NAME} | ||
| ${catkin_LIBRARIES} | ||
| ) | ||
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| add_dependencies(test_${TEST_NAME} | ||
| ${${PROJECT_NAME}_EXPORTED_TARGETS} | ||
| ${catkin_EXPORTED_TARGETS} | ||
| ) | ||
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| add_rostest(${TEST_NAME}.test) |
39 changes: 39 additions & 0 deletions
39
test/control_manager/bumper_with_rc_remote/bumper_with_rc_remote.test
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,39 @@ | ||
| <launch> | ||
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| <arg name="this_path" default="$(dirname)" /> | ||
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| <arg name="UAV_NAME" default="uav1" /> | ||
| <arg name="UAV_TYPE" default="x500" /> | ||
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| <!-- automatically deduce the test name --> | ||
| <arg name="test_name" default="$(eval arg('this_path').split('/')[-1])" /> | ||
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| <!-- automatically deduce the package name --> | ||
| <arg name="import_eval" default="eval('_' + '_import_' + '_')"/> | ||
| <arg name="package_eval" default="eval(arg('import_eval') + '(\'rospkg\')').get_package_name(arg('this_path'))" /> | ||
| <arg name="package" default="$(eval eval(arg('package_eval')))" /> | ||
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| <include file="$(find mrs_uav_testing)/launch/mrs_simulator.launch"> | ||
| <arg name="UAV_NAME" default="$(arg UAV_NAME)" /> | ||
| </include> | ||
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| <include file="$(dirname)/launch/hw_api.launch"> | ||
| <arg name="UAV_NAME" default="$(arg UAV_NAME)" /> | ||
| </include> | ||
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| <include file="$(find mrs_uav_testing)/launch/mrs_uav_system.launch"> | ||
| <arg name="automatic_start" default="false" /> | ||
| <arg name="platform_config" default="$(find mrs_multirotor_simulator)/config/mrs_uav_system/$(arg UAV_TYPE).yaml" /> | ||
| <arg name="custom_config" default="$(dirname)/config/custom_config.yaml" /> | ||
| <arg name="world_config" default="$(dirname)/config/world_config.yaml" /> | ||
| <arg name="UAV_NAME" default="$(arg UAV_NAME)" /> | ||
| </include> | ||
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| <test pkg="$(arg package)" type="test_$(arg test_name)" test-name="$(arg test_name)" time-limit="60.0"> | ||
| <param name="test" value="$(arg test_name)" /> | ||
| <param name="uav_name" value="$(arg UAV_NAME)" /> | ||
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| <rosparam file="$(find mrs_uav_managers)/config/public/control_manager.yaml" command="load" /> | ||
| </test> | ||
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| </launch> |
27 changes: 27 additions & 0 deletions
27
test/control_manager/bumper_with_rc_remote/config/custom_config.yaml
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| mrs_uav_managers: | ||
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| estimation_manager: | ||
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| state_estimators: [ | ||
| "gps_baro", | ||
| ] | ||
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| initial_state_estimator: "gps_baro" | ||
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| constraint_manager: | ||
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| default_constraints: | ||
| gps_garmin: "medium" | ||
| gps_baro: "medium" | ||
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| control_manager: | ||
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| rc_joystick: | ||
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| enabled: true | ||
| # activation channel | ||
| channel_number: 6 # indexed from 0 | ||
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| horizontal_speed: 4.00 # [m/s] | ||
| vertical_speed: 4.00 # [m/s] | ||
| heading_rate: 1.00 # [rad/s] |
34 changes: 34 additions & 0 deletions
34
test/control_manager/bumper_with_rc_remote/config/world_config.yaml
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| @@ -0,0 +1,34 @@ | ||
| world_origin: | ||
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| units: "LATLON" # {"UTM, "LATLON"} | ||
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| origin_x: 47.397743 | ||
| origin_y: 8.545594 | ||
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| safety_area: | ||
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| enabled: false | ||
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| horizontal: | ||
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| # the frame of reference in which the points are expressed | ||
| frame_name: "world_origin" | ||
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| # polygon | ||
| # | ||
| # x, y [m] for any frame_name except latlon_origin | ||
| # x = latitude, y = longitude [deg] for frame_name=="latlon_origin" | ||
| points: [ | ||
| -50, -50, | ||
| 50, -50, | ||
| 50, 50, | ||
| -50, 50, | ||
| ] | ||
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| vertical: | ||
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| # the frame of reference in which the max&min z is expressed | ||
| frame_name: "world_origin" | ||
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| max_z: 15.0 | ||
| min_z: 0.5 |
66 changes: 66 additions & 0 deletions
66
test/control_manager/bumper_with_rc_remote/launch/hw_api.launch
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| <launch> | ||
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| <!-- args corresponding to environment variables --> | ||
| <arg name="UAV_NAME" default="$(optenv UAV_NAME)" /> | ||
| <arg name="LOGGER_DEBUG" default="$(optenv LOGGER_DEBUG false)" /> | ||
| <arg name="RUN_TYPE" default="$(optenv RUN_TYPE uav)" /> | ||
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| <!-- other args --> | ||
| <arg name="debug" default="false" /> | ||
| <arg name="bond" default="$(optenv BOND true)" /> | ||
| <arg name="nodelet_manager_name" default="$(optenv NODELET_MANAGER)" /> | ||
| <arg name="custom_config" default="" /> | ||
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| <arg if="$(eval arg('nodelet_manager_name') != '')" name="standalone" value="false" /> | ||
| <arg if="$(eval arg('nodelet_manager_name') == '')" name="standalone" value="true" /> | ||
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| <env name="ROSCONSOLE_CONFIG_FILE" if="$(eval arg('LOGGER_DEBUG'))" value="$(find mrs_uav_hw_api)/config/debug_verbosity.yaml" /> | ||
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| <arg if="$(arg bond)" name="bond_suffix" value="" /> | ||
| <arg unless="$(arg bond)" name="bond_suffix" value="--no-bond" /> | ||
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| <arg if="$(eval arg('standalone') or arg('debug'))" name="nodelet" value="standalone" /> | ||
| <arg unless="$(eval arg('standalone') or arg('debug'))" name="nodelet" value="load" /> | ||
| <arg if="$(eval arg('standalone') or arg('debug'))" name="nodelet_manager" value="" /> | ||
| <arg unless="$(eval arg('standalone') or arg('debug'))" name="nodelet_manager" value="$(arg nodelet_manager_name)" /> | ||
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| <arg if="$(arg debug)" name="launch_prefix" value="debug_roslaunch" /> | ||
| <arg unless="$(arg debug)" name="launch_prefix" value="" /> | ||
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| <group ns="$(arg UAV_NAME)"> | ||
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| <node pkg="nodelet" type="nodelet" name="hw_api" args="$(arg nodelet) mrs_uav_hw_api/HwApiManager $(arg nodelet_manager) $(arg bond_suffix)" output="screen" launch-prefix="$(arg launch_prefix)"> | ||
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| <rosparam file="$(find mrs_uav_hw_api)/config/hw_api.yaml" /> | ||
| <rosparam file="$(find mrs_multirotor_simulator)/config/hw_api.yaml" /> | ||
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| <!-- Load a user param file --> | ||
| <rosparam if="$(eval not arg('custom_config') == '')" file="$(arg custom_config)" /> | ||
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| <!-- Parameters --> | ||
| <param name="topic_prefix" type="string" value="/$(arg UAV_NAME)/" /> | ||
| <param name="uav_name" type="string" value="$(arg UAV_NAME)" /> | ||
| <param name="simulation" type="bool" value="$(eval arg('RUN_TYPE') == 'simulation')" /> | ||
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| <!-- custom remaps --> | ||
| <remap from="~simulator_imu_in" to="/multirotor_simulator/$(arg UAV_NAME)/imu" /> | ||
| <remap from="~simulator_odom_in" to="/multirotor_simulator/$(arg UAV_NAME)/odom" /> | ||
| <remap from="~simulator_rangefinder_in" to="/multirotor_simulator/$(arg UAV_NAME)/rangefinder" /> | ||
| <remap from="~simulator_actuators_cmd_out" to="/multirotor_simulator/$(arg UAV_NAME)/actuators_cmd" /> | ||
| <remap from="~simulator_control_group_cmd_out" to="/multirotor_simulator/$(arg UAV_NAME)/control_group_cmd" /> | ||
| <remap from="~simulator_attitude_rate_cmd_out" to="/multirotor_simulator/$(arg UAV_NAME)/attitude_rate_cmd" /> | ||
| <remap from="~simulator_attitude_cmd_out" to="/multirotor_simulator/$(arg UAV_NAME)/attitude_cmd" /> | ||
| <remap from="~simulator_acceleration_hdg_rate_cmd_out" to="/multirotor_simulator/$(arg UAV_NAME)/acceleration_hdg_rate_cmd" /> | ||
| <remap from="~simulator_acceleration_hdg_cmd_out" to="/multirotor_simulator/$(arg UAV_NAME)/acceleration_hdg_cmd" /> | ||
| <remap from="~simulator_velocity_hdg_rate_cmd_out" to="/multirotor_simulator/$(arg UAV_NAME)/velocity_hdg_rate_cmd" /> | ||
| <remap from="~simulator_velocity_hdg_cmd_out" to="/multirotor_simulator/$(arg UAV_NAME)/velocity_hdg_cmd" /> | ||
| <remap from="~simulator_position_cmd_out" to="/multirotor_simulator/$(arg UAV_NAME)/position_cmd" /> | ||
| <remap from="~simulator_tracker_cmd_out" to="/multirotor_simulator/$(arg UAV_NAME)/tracker_cmd" /> | ||
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| <remap from="~rc_channels" to="~rc_channels_unused" /> | ||
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| </node> | ||
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| </group> | ||
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| </launch> |
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