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Signed-off-by: Ryan Friedman <[email protected]> Co-Authored-by: Tiziano Fiorenzani
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Tools/ros2/ardupilot_dds_tests/test/ardupilot_dds_tests/test_joy_msg_received.py
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| # 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 | ||
|
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| # 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) | ||
|
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||
|
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| class PlaneFbwbJoyControl(Node): | ||
| """Plane follow waypoints using guided control.""" | ||
|
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||
| 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() | ||
|
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| self._client_arm = self.create_client(ArmMotors, "/ap/arm_motors") | ||
|
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| self._client_mode_switch = self.create_client(ModeSwitch, "/ap/mode_switch") | ||
|
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| self._joy_pub = self.create_publisher(Joy, "/ap/joy", 1) | ||
|
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||
| # 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() | ||
|
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||
| self._subscription_twist = self.create_subscription(TwistStamped, "/ap/twist/filtered", self.twist_cb, qos) | ||
| self._climb_rate = 0.0 | ||
|
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||
| # 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 | ||
|
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||
| def twist_cb(self, msg: TwistStamped): | ||
| """Process a Twist message.""" | ||
| linear = msg.twist.linear | ||
| self._climb_rate = linear.z | ||
|
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||
| 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 | ||
|
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||
| 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 | ||
|
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||
| 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 | ||
|
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||
| 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) | ||
|
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||
| return is_in_desired_mode | ||
|
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| def get_cur_geopose(self): | ||
| """Return latest geopose.""" | ||
| return self._cur_geopose | ||
|
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| def send_joy_value(self, joy_val): | ||
| self._joy_pub.publish(joy_val) | ||
|
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||
| #-------------- PROCESSES ----------------- | ||
| def process_arm(self): | ||
| if self.arm_with_timeout(rclpy.duration.Duration(seconds=30)): | ||
| self.arming_event_object.set() | ||
|
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||
| def start_arm(self): | ||
| self.arm_thread = threading.Thread(target=self.process_arm) | ||
| self.arm_thread.start() | ||
|
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| 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) | ||
|
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||
| 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 | ||
|
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||
| def climb(self): | ||
| self.climb_thread = threading.Thread(target=self.process_climb) | ||
| self.climb_thread.start() | ||
|
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| def arm_and_takeoff_process(self): | ||
| self.process_arm() | ||
| self.climb() | ||
|
|
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| 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) | ||
|
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||
| 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 |
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