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Obstacle Avoidance testing in CI (PX4#10780)
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,13 @@ | ||
| #!/bin/sh | ||
| # | ||
| # @name 3DR Iris Quadrotor SITL (Obstacle Avoidance) | ||
| # | ||
| # @type Quadrotor Wide | ||
| # | ||
|
|
||
| sh /etc/init.d-posix/10016_iris | ||
|
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| if [ $AUTOCNF = yes ] | ||
| then | ||
| param set COM_OBS_AVOID 1 | ||
| fi |
88 changes: 88 additions & 0 deletions
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integrationtests/python_src/px4_it/mavros/missions/avoidance.plan
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,88 @@ | ||
| { | ||
| "fileType": "Plan", | ||
| "geoFence": { | ||
| "circles": [ | ||
| ], | ||
| "polygons": [ | ||
| ], | ||
| "version": 2 | ||
| }, | ||
| "groundStation": "QGroundControl", | ||
| "mission": { | ||
| "cruiseSpeed": 15, | ||
| "firmwareType": 12, | ||
| "hoverSpeed": 5, | ||
| "items": [ | ||
| { | ||
| "AMSLAltAboveTerrain": null, | ||
| "Altitude": 4, | ||
| "AltitudeMode": 0, | ||
| "autoContinue": true, | ||
| "command": 22, | ||
| "doJumpId": 1, | ||
| "frame": 3, | ||
| "params": [ | ||
| 15, | ||
| 0, | ||
| 0, | ||
| null, | ||
| 47.3977432, | ||
| 8.5456085, | ||
| 4 | ||
| ], | ||
| "type": "SimpleItem" | ||
| }, | ||
| { | ||
| "AMSLAltAboveTerrain": null, | ||
| "Altitude": 4, | ||
| "AltitudeMode": 0, | ||
| "autoContinue": true, | ||
| "command": 16, | ||
| "doJumpId": 2, | ||
| "frame": 3, | ||
| "params": [ | ||
| 0, | ||
| 0, | ||
| 0, | ||
| null, | ||
| 47.3977432, | ||
| 8.5458765, | ||
| 4 | ||
| ], | ||
| "type": "SimpleItem" | ||
| }, | ||
| { | ||
| "AMSLAltAboveTerrain": null, | ||
| "Altitude": -1, | ||
| "AltitudeMode": 0, | ||
| "autoContinue": true, | ||
| "command": 21, | ||
| "doJumpId": 3, | ||
| "frame": 3, | ||
| "params": [ | ||
| 0, | ||
| 0, | ||
| 0, | ||
| null, | ||
| 47.3977432, | ||
| 8.5458812, | ||
| -1 | ||
| ], | ||
| "type": "SimpleItem" | ||
| } | ||
| ], | ||
| "plannedHomePosition": [ | ||
| 47.3977419, | ||
| 8.5458854, | ||
| 487.923 | ||
| ], | ||
| "vehicleType": 2, | ||
| "version": 2 | ||
| }, | ||
| "rallyPoints": { | ||
| "points": [ | ||
| ], | ||
| "version": 2 | ||
| }, | ||
| "version": 1 | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,52 @@ | ||
| <?xml version="1.0"?> | ||
| <launch> | ||
| <!-- Posix SITL MAVROS integration tests --> | ||
| <!-- Test a mission --> | ||
| <arg name="est" default="ekf2"/> | ||
| <arg name="gui" default="false"/> | ||
| <arg name="interactive" default="false"/> | ||
| <arg name="mission" default="avoidance"/> | ||
| <arg name="sdf" default="$(find local_planner)/../sim/models/iris_depth_camera_3/iris_depth_camera.sdf"/> | ||
| <arg name="vehicle" default="iris_obs_avoid"/> | ||
| <arg name="world" default="$(find local_planner)/../sim/worlds/boxes1.world"/> | ||
| <!-- PX4 SITL and Gazebo --> | ||
| <include file="$(find px4)/launch/posix_sitl.launch"> | ||
| <arg name="est" value="$(arg est)"/> | ||
| <arg name="gui" value="$(arg gui)"/> | ||
| <arg name="interactive" value="$(arg interactive)"/> | ||
| <arg name="respawn_gazebo" value="true"/> | ||
| <arg name="sdf" value="$(arg sdf)"/> | ||
| <arg name="vehicle" value="$(arg vehicle)"/> | ||
| <arg name="verbose" value="true"/> | ||
| <arg name="world" value="$(arg world)"/> | ||
| </include> | ||
| <!-- MAVROS --> | ||
| <include file="$(find mavros)/launch/node.launch"> | ||
| <arg name="pluginlists_yaml" value="$(find mavros)/launch/px4_pluginlists.yaml"/> | ||
| <arg name="config_yaml" value="$(find local_planner)/resource/px4_config.yaml"/> | ||
| <arg name="gcs_url" value=""/> | ||
| <arg name="fcu_url" value="udp://:14540@localhost:14557"/> | ||
| <arg name="tgt_system" value="1"/> | ||
| <arg name="tgt_component" value="1"/> | ||
| <arg name="respawn_mavros" value="true"/> | ||
| </include> | ||
| <!-- Transformation Publishers --> | ||
| <node pkg="tf" type="static_transform_publisher" name="tf_front_camera" | ||
| args="0 0 0 -1.57 0 -1.57 fcu front_camera_link 10"/> | ||
| <node pkg="tf" type="static_transform_publisher" name="tf_right_camera" | ||
| args="0 0 0 -3.14 0 -1.57 fcu right_camera_link 10"/> | ||
| <node pkg="tf" type="static_transform_publisher" name="tf_left_camera" | ||
| args="0 0 0 0 0 -1.57 fcu left_camera_link 10"/> | ||
| <!-- Suppress console outputs --> | ||
| <env name="ROSCONSOLE_CONFIG_FILE" value="$(find local_planner)/resource/custom_rosconsole.conf"/> | ||
| <!-- Launch Local Planner --> | ||
| <arg name="pointcloud_topics" default="[/camera_front/depth/points,/camera_left/depth/points,/camera_right/depth/points]"/> | ||
| <node name="local_planner_node" pkg="local_planner" type="local_planner_node" output="screen"> | ||
| <param name="goal_x_param" value="17" /> | ||
| <param name="goal_y_param" value="15"/> | ||
| <param name="goal_z_param" value="3" /> | ||
| <rosparam param="pointcloud_topics" subst_value="True">$(arg pointcloud_topics)</rosparam> | ||
| </node> | ||
| <!-- ROStest --> | ||
| <test test-name="$(arg mission)" pkg="px4" type="mission_test.py" time-limit="300.0" args="$(arg mission).plan"/> | ||
| </launch> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,20 @@ | ||
| #! /bin/bash | ||
|
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| DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd ) | ||
| PX4_SRC_DIR=${DIR}/.. | ||
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| source /opt/ros/${ROS_DISTRO:-kinetic}/setup.bash | ||
| mkdir -p ${PX4_SRC_DIR}/catkin_ws/src | ||
| cd ${PX4_SRC_DIR}/catkin_ws/ | ||
| git clone -b '0.1.0' --single-branch --depth 1 https://github.com/PX4/avoidance.git src/avoidance | ||
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| catkin init | ||
| catkin build local_planner --cmake-args -DCMAKE_BUILD_TYPE=Release | ||
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| source ${PX4_SRC_DIR}/catkin_ws/devel/setup.bash | ||
| source /usr/share/gazebo/setup.sh | ||
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| export CATKIN_SETUP_UTIL_ARGS=--extend | ||
| export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:${PX4_SRC_DIR}/catkin_ws/src/avoidance/sim/models | ||
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| source $DIR/rostest_px4_run.sh "$@" |