Add some simple_offboard tests for testing with SITL

Author: okalachev

clever/test/sitl.py

@@ -0,0 +1,197 @@
+#!/usr/bin/env python
+
+import math
+import rospy
+import pytest
+from pytest import approx
+from numpy import isfinite
+from geometry_msgs.msg import PoseStamped
+from mavros_msgs.msg import State
+from sensor_msgs.msg import NavSatFix
+from clever import srv
+from std_srvs.srv import Trigger
+
+import tf2_ros
+import tf2_geometry_msgs
+
+def roughly(expected):
+    return pytest.approx(expected, abs=1e-1)
+
+def very_roughly(expected):
+    return pytest.approx(expected, abs=1)
+
+@pytest.fixture()
+def node():
+    return rospy.init_node('clever_test', anonymous=True)
+
+def wait_service(name, service_class):
+    res = rospy.ServiceProxy(name, service_class)
+    res.wait_for_service(5)
+    return res
+
+@pytest.fixture
+def get_telemetry():
+    return wait_service('get_telemetry', srv.GetTelemetry)
+
+@pytest.fixture
+def navigate():
+    return wait_service('navigate', srv.Navigate)
+
+@pytest.fixture
+def navigate():
+    res = rospy.ServiceProxy('navigate', srv.Navigate)
+    res.wait_for_service(5)
+    return res
+
+@pytest.fixture
+def land():
+    return wait_service('land', Trigger)
+
+@pytest.fixture
+def tf_buffer():
+    buf = tf2_ros.Buffer()
+    tf2_ros.TransformListener(buf)
+    return buf
+
+def wait_connection():
+    start = rospy.get_rostime()
+    while rospy.get_rostime() - start <= rospy.Duration(15):
+        state = rospy.wait_for_message('mavros/state', State, timeout=10)
+        if state.connected:
+            return True
+    assert False, "no connection to SITL"
+
+def minimal_rate(func, rate):
+    start = rospy.get_rostime()
+    i = 0
+    while rospy.get_rostime() - start <= rospy.Duration(2):
+        func()
+        i += 1
+    result_rate = i / 2
+    assert result_rate >= rate, 'Rate too low: %s Hz' % result_rate
+
+def test_state_initial(node):
+    wait_connection()
+    state = rospy.wait_for_message('mavros/state', State, timeout=10)
+    assert state.connected == True
+    assert state.armed == False
+
+def test_telem_initial(node, get_telemetry):
+    # wait for local position
+    rospy.wait_for_message('mavros/local_position/pose', PoseStamped, timeout=15)
+    rospy.wait_for_message('mavros/global_position/global', NavSatFix, timeout=30)
+
+    telem = get_telemetry()
+    assert telem.frame_id == 'map'
+    assert telem.connected == True
+    assert telem.armed == False
+    assert telem.mode != ''
+    assert telem.x == roughly(0.0)
+    assert telem.y == roughly(0.0)
+    assert telem.z == roughly(0.0)
+    assert telem.lat == approx(47.397742)
+    assert telem.lon == approx(8.545594)
+    assert telem.vx == roughly(0.0)
+    assert telem.vy == roughly(0.0)
+    assert telem.vz == roughly(0.0)
+    assert telem.pitch == roughly(0.0)
+    assert telem.roll == roughly(0.0)
+    assert telem.yaw == roughly(1.56)
+    assert isfinite(telem.voltage)
+    assert isfinite(telem.cell_voltage)
+
+def test_telem_rate(node, get_telemetry):
+    minimal_rate(lambda: get_telemetry(), 20)
+    minimal_rate(lambda: get_telemetry(frame_id='body'), 20)
+    minimal_rate(lambda: get_telemetry(frame_id='base_link'), 200)
+
+def test_takeoff_without_auto_arm(node, navigate):
+    res = navigate(z=2, frame_id='body')
+    assert res.success == False
+    assert res.message == 'Copter is not in OFFBOARD mode, use auto_arm?'
+
+def test_takeoff(node, navigate, get_telemetry, tf_buffer):
+    res = navigate(z=2, speed=1, frame_id='body', auto_arm=True)
+    assert res.success == True, res.message
+    rospy.sleep(5)
+    telem = get_telemetry()
+    assert telem.z == very_roughly(2.0)
+    assert telem.x == very_roughly(0.0)
+    assert telem.y == very_roughly(0.0)
+    assert telem.pitch == roughly(0.0)
+    assert telem.roll == roughly(0.0)
+    assert telem.yaw == roughly(1.56)
+
+def test_navigate_nans(node, navigate):
+    res = navigate(x=float('nan'))
+    assert res.success == False
+    assert res.message == 'x argument cannot be NaN or Inf'
+    res = navigate(y=float('nan'))
+    assert res.success == False
+    assert res.message == 'y argument cannot be NaN or Inf'
+    res = navigate(z=float('nan'))
+    assert res.success == False
+    assert res.message == 'z argument cannot be NaN or Inf'
+    res = navigate(x=float('inf'))
+    assert res.success == False
+    assert res.message == 'x argument cannot be NaN or Inf'
+    res = navigate(y=float('inf'))
+    assert res.success == False
+    assert res.message == 'y argument cannot be NaN or Inf'
+    res = navigate(z=float('inf'))
+    assert res.success == False
+    assert res.message == 'z argument cannot be NaN or Inf'
+    res = navigate(x=float('-inf'))
+    assert res.success == False
+    assert res.message == 'x argument cannot be NaN or Inf'
+    res = navigate(y=float('-inf'))
+    assert res.success == False
+    assert res.message == 'y argument cannot be NaN or Inf'
+    res = navigate(z=float('-inf'))
+    assert res.success == False
+    assert res.message == 'z argument cannot be NaN or Inf'
+
+def test_navigate(node, navigate, get_telemetry, tf_buffer):
+    res = navigate(x=1, y=2, z=3, speed=1)
+    assert res.success == True, res.message
+    nav_target = tf_buffer.lookup_transform('map', 'navigate_target', rospy.get_rostime(), rospy.Duration(0.2))
+    assert nav_target.transform.translation.x == approx(1)
+    assert nav_target.transform.translation.y == approx(2)
+    assert nav_target.transform.translation.z == approx(3)
+    rospy.sleep(10)
+    telem = get_telemetry()
+    assert telem.x == very_roughly(1.0)
+    assert telem.y == very_roughly(2.0)
+    assert telem.z == very_roughly(3.0)
+    assert telem.pitch == roughly(0.0)
+    assert telem.roll == roughly(0.0)
+    assert telem.yaw == roughly(0.0)
+
+    res = navigate(x=-1, y=-2, z=-1, frame_id='body', speed=1)
+    assert res.success == True, res.message
+    nav_target = tf_buffer.lookup_transform('map', 'navigate_target', rospy.get_rostime(), rospy.Duration(0.2))
+    assert nav_target.transform.translation.x == very_roughly(0)
+    assert nav_target.transform.translation.y == very_roughly(0)
+    assert nav_target.transform.translation.z == very_roughly(2)
+    rospy.sleep(10)
+    telem = get_telemetry()
+    assert telem.x == very_roughly(0)
+    assert telem.y == very_roughly(0)
+    assert telem.z == very_roughly(2)
+    assert telem.pitch == roughly(0)
+    assert telem.roll == roughly(0)
+    assert telem.yaw == roughly(0)
+
+# TODO
+# test navigate_global, set_velocity, set_attitude, set_rates
+
+def test_land(node, get_telemetry, land):
+    res = land()
+    assert res.success, res.message
+    telem = get_telemetry()
+    assert telem.mode == 'AUTO.LAND'
+    assert telem.armed == True, 'Drone unexpectedly disarmed while landing'
+    rospy.sleep(12)
+    telem = get_telemetry()
+    assert telem.mode == 'AUTO.LAND'
+    assert telem.armed == False, 'Drone is not disarmed after landing'

clever/test/sitl.test

@@ -0,0 +1,20 @@
+<launch>
+    <arg name="ip" default="127.0.0.1"/>
+
+    <!-- mavros -->
+    <include file="$(find clever)/launch/mavros.launch">
+        <arg name="fcu_conn" value="udp"/>
+        <arg name="fcu_ip" value="$(arg ip)"/>
+        <arg name="gcs_bridge" value="false"/>
+        <arg name="viz" value="false"/>
+        <arg name="respawn" default="false"/>
+    </include>
+
+    <node name="simple_offboard" pkg="clever" type="simple_offboard" required="true" output="screen">
+        <param name="reference_frames/body" value="map"/>
+        <param name="reference_frames/base_link" value="map"/>
+    </node>
+
+    <param name="test_module" value="$(find clever)/test/sitl.py"/>
+    <test test-name="basic_test" pkg="ros_pytest" type="ros_pytest_runner" time-limit="120.0"/>
+</launch>