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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,70 @@ | ||
| /* | ||
| * Copyright (C) 2021 Open Source Robotics Foundation | ||
| * | ||
| * Licensed under the Apache License, Version 2.0 (the "License"); | ||
| * you may not use this file except in compliance with the License. | ||
| * You may obtain a copy of the License at | ||
| * | ||
| * http://www.apache.org/licenses/LICENSE-2.0 | ||
| * | ||
| * Unless required by applicable law or agreed to in writing, software | ||
| * distributed under the License is distributed on an "AS IS" BASIS, | ||
| * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| * See the License for the specific language governing permissions and | ||
| * limitations under the License. | ||
| * | ||
| */ | ||
|
|
||
| /** | ||
| * Control the elevator joint position. | ||
| * | ||
| * Positive angles rotate the horizontal fins counter-clockwise when looking | ||
| * from starboard, which makes the vehicle go down when propelled forward. | ||
| * Negative commands do the opposite. | ||
| * | ||
| * Usage: | ||
| * $ LRAUV_example_elevator <vehicle_name> <angle_radians> | ||
| */ | ||
| #include <chrono> | ||
| #include <thread> | ||
|
|
||
| #include <ignition/msgs.hh> | ||
| #include <ignition/transport.hh> | ||
| #include "lrauv_command.pb.h" | ||
|
|
||
| int main(int _argc, char **_argv) | ||
| { | ||
| std::string vehicleName("tethys"); | ||
| if (_argc > 1) | ||
| { | ||
| vehicleName = _argv[1]; | ||
| } | ||
|
|
||
| double angle{0.17}; | ||
| if (_argc > 2) | ||
| { | ||
| angle = atof(_argv[2]); | ||
| } | ||
|
|
||
| ignition::transport::Node node; | ||
| auto commandTopic = "/" + vehicleName + "/command_topic"; | ||
| auto commandPub = | ||
| node.Advertise<lrauv_ignition_plugins::msgs::LRAUVCommand>(commandTopic); | ||
|
|
||
| while (!commandPub.HasConnections()) | ||
| { | ||
| std::cout << "Command publisher waiting for connections..." << std::endl; | ||
| std::this_thread::sleep_for(std::chrono::milliseconds(1000)); | ||
| } | ||
|
|
||
| lrauv_ignition_plugins::msgs::LRAUVCommand cmdMsg; | ||
| cmdMsg.set_elevatorangleaction_(angle); | ||
|
|
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| // Keep it stable | ||
| cmdMsg.set_buoyancyaction_(0.0005); | ||
| cmdMsg.set_dropweightstate_(1); | ||
|
|
||
| commandPub.Publish(cmdMsg); | ||
|
|
||
| std::cout << "Moving elevator to [" << angle << "] rad" << std::endl; | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,77 @@ | ||
| /* | ||
| * Copyright (C) 2021 Open Source Robotics Foundation | ||
| * | ||
| * Licensed under the Apache License, Version 2.0 (the "License"); | ||
| * you may not use this file except in compliance with the License. | ||
| * You may obtain a copy of the License at | ||
| * | ||
| * http://www.apache.org/licenses/LICENSE-2.0 | ||
| * | ||
| * Unless required by applicable law or agreed to in writing, software | ||
| * distributed under the License is distributed on an "AS IS" BASIS, | ||
| * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| * See the License for the specific language governing permissions and | ||
| * limitations under the License. | ||
| * | ||
| */ | ||
|
|
||
| #include <chrono> | ||
| #include <gtest/gtest.h> | ||
|
|
||
| #include "helper/LrauvTestFixture.hh" | ||
| #include "lrauv_command.pb.h" | ||
|
|
||
| #include <fstream> | ||
|
|
||
| ////////////////////////////////////////////////// | ||
| TEST_F(LrauvTestFixture, Elevator) | ||
| { | ||
| this->fixture->Server()->Run(true, 100, false); | ||
| EXPECT_EQ(100, this->iterations); | ||
| EXPECT_EQ(100, this->tethysPoses.size()); | ||
| EXPECT_NEAR(0.0, this->tethysPoses.back().Pos().X(), 1e-6); | ||
| EXPECT_NEAR(0.0, this->tethysPoses.back().Pos().Y(), 1e-6); | ||
| EXPECT_NEAR(0.0, this->tethysPoses.back().Pos().Z(), 2e-2); | ||
|
|
||
| // Propel vehicle | ||
| lrauv_ignition_plugins::msgs::LRAUVCommand cmdMsg; | ||
|
|
||
| // Move forward | ||
| cmdMsg.set_propomegaaction_(30); | ||
|
|
||
| // Rotate elevator counter-clockwise when looking from starboard, which | ||
| // causes the vehicle to pitch down | ||
| // Using an angle lower than the stall angle 0.17 | ||
| cmdMsg.set_elevatorangleaction_(0.15); | ||
|
|
||
| // Neutral buoyancy | ||
| cmdMsg.set_buoyancyaction_(0.0005); | ||
| cmdMsg.set_dropweightstate_(true); | ||
|
|
||
| // Run server until the command is processed and the model reaches a certain | ||
| // point vertically | ||
| double targetZ{-1.5}; | ||
| this->PublishCommandWhile(cmdMsg, [&]() | ||
| { | ||
| return this->tethysPoses.back().Pos().Z() > targetZ; | ||
| }); | ||
|
|
||
| EXPECT_LT(1500, this->iterations); | ||
| EXPECT_LT(1500, this->tethysPoses.size()); | ||
|
|
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| // Vehicle goes down | ||
| EXPECT_GT(targetZ, this->tethysPoses.back().Pos().Z()); | ||
|
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| for (int i = 0; i < this->tethysPoses.size(); ++i) | ||
| { | ||
| auto pose = this->tethysPoses[i]; | ||
|
|
||
| // FIXME(chapulina) It goes up a little bit in the beginning, is this | ||
| // expected? | ||
| if (i < 1500) | ||
| EXPECT_GT(0.2, pose.Pos().Z()) << i << " -- " << pose.Pos().Z(); | ||
| else | ||
| EXPECT_GT(0.0, pose.Pos().Z()) << i << " -- " << pose.Pos().Z(); | ||
| } | ||
| } | ||
|
|