README.md

MAVROS test package

This package consists hand-tests with FCU SITL environment. I hope later we will do automatic tests too.

PX4 ROS SITL

Follow the instructions presented on PX4 ROS SITL Setup.

To test the simulation environment all you have to do is launch the proper ROS launch file. Right now, the current available one is iris_empty_world_offboard_ctl.launch, which allows to test the offboard control routines of the Firmware, together with the MAVROS API.

Available tests

Offboard position and velocity control

Note: acceleration control still not supported on PX4 Firmware side.

Tested in launch files

• iris_empty_world_offboard_ctl.launch

Description

Allows testing the offboard control routines of the PX4 firmware by issuing setpoint commands through MAVROS plugins. Current test implements code to send:

• position setpoints
• velocity setpoints

The tests are implemented by issuing some kind of shaped path. Current shapes are:

• square/rectangle
• circle
• eight
• ellipse (3D)

How to use

To test the different behaviors, edit iris_empty_world_offboard_ctl.launch. At the bottom of this file, you will find:

	<!-- SITL test base node launcher -->
    <arg name="mode" default="position" />    <!-- position ctl mode -->
    <arg name="shape" default="square" />    <!-- square shaped path -->

Just change the default value of them and issue roslaunch test_mavros iris_empty_world_offboard_ctl.launch

Or, you can just issue the roslaunch passing the parameter values on the command line, p.e. roslaunch test_mavros iris_empty_world_offboard_ctl.launch mode:=position shape:=square.

TODO

• Implement acceleration setpoint sending, when this is implemented on Firmware side
• Give possibility to users to define the amplitude of movement
• Implement a PID controller for velocity to avoid overshoots in the onboard controller

APM SITL

All what you need described in ardupilot wiki.

Preparation

# this is for zsh, but bash should be similar
function add-dir-to-path() {
    PATH+=":$1"
}

# get sources
cd ~/ros/src
wstool set imu_tools --git https://github.com/ccny-ros-pkg/imu_tools.git -v indigo
wstool update -j2
catkin build

cd ~/src/UAV
git clone https://github.com/diydrones/ardupilot.git
git checkout ArduPlane-3.3.0 -b ArduPlane-3.3.0
git clone https://github.com/tridge/jsbsim.git

# compile JSBSim
cd jsbsim
./autogen.sh --enable-libraries
make -j4

# also look ardupliot wiki

# add path to jsbsim binaries
add-dir-to-path $PWD/src

# path to sim_vehicle.sh
cd ../ardupilot/Tools/autotest
add-dir-to-path $PWD

# build APM and load default params
cd ../../ArduPlane
sim_vehicle.sh -w

How to use

# shell 1: in ArduPlane folder
sim_vehicle.sh --out udp:localhost:15550 --map

# shell 2: imu test
roslaunch test_mavros apm_imu_test.launch

# shell 2: URDF model + local_position
roslaunch test_mavros apm_local_position_test.launch

Screen capture for IMU test (youtube video)

Screen capture for URDF model test