ROS IndexNo version for distro humble. Known supported distros are highlighted in the buttons above.
No version for distro jazzy. Known supported distros are highlighted in the buttons above.
No version for distro rolling. Known supported distros are highlighted in the buttons above.
|
test_mavros package from mavros repolibmavconn mavros mavros_extras mavros_msgs test_mavros |
Package Summary
| Tags | No category tags. |
| Version | 1.20.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/mavlink/mavros.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2024-10-10 |
| Dev Status | DEVELOPED |
| CI status |
|
| Released | RELEASED |
| Tags | uav mav mavlink plugin apm px4 |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Tests for MAVROS package
Additional Links
Maintainers
- Vladimir Ermakov
Authors
- Nuno Marques
- Vladimir Ermakov
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
CHANGELOG
Changelog for package test_mavros
1.20.0 (2024-10-10)
1.19.0 (2024-06-06)
1.18.0 (2024-03-03)
1.17.0 (2023-09-09)
- Merge pull request #1865 from scoutdi/warnings Fix / suppress some build warnings
- Suppress warnings from included headers
- Contributors: Morten Fyhn Amundsen, Vladimir Ermakov
1.16.0 (2023-05-05)
1.15.0 (2022-12-30)
1.14.0 (2022-09-24)
1.13.0 (2022-01-13)
1.12.2 (2021-12-12)
1.12.1 (2021-11-29)
1.12.0 (2021-11-27)
1.11.1 (2021-11-24)
1.11.0 (2021-11-24)
1.10.0 (2021-11-04)
1.9.0 (2021-09-09)
1.8.0 (2021-05-05)
1.7.1 (2021-04-05)
1.7.0 (2021-04-05)
1.6.0 (2021-02-15)
1.5.2 (2021-02-02)
1.5.1 (2021-01-04)
1.5.0 (2020-11-11)
1.4.0 (2020-09-11)
1.3.0 (2020-08-08)
1.2.0 (2020-05-22)
1.1.0 (2020-04-04)
1.0.0 (2020-01-01)
0.33.4 (2019-12-12)
0.33.3 (2019-11-13)
0.33.2 (2019-11-13)
0.33.1 (2019-11-11)
- resolved merge conflict
- Contributors: David Jablonski
0.33.0 (2019-10-10)
0.32.2 (2019-09-09)
0.32.1 (2019-08-08)
0.32.0 (2019-07-06)
0.31.0 (2019-06-07)
0.30.0 (2019-05-20)
0.29.2 (2019-03-06)
0.29.1 (2019-03-03)
- All: catkin lint files
- Contributors: Pierre Kancir
0.29.0 (2019-02-02)
- Merge branch 'master' into param-timeout
- Contributors: Vladimir Ermakov
0.28.0 (2019-01-03)
0.27.0 (2018-11-12)
0.26.3 (2018-08-21)
0.26.2 (2018-08-08)
0.26.1 (2018-07-19)
0.26.0 (2018-06-06)
0.25.1 (2018-05-14)
0.25.0 (2018-05-11)
0.24.0 (2018-04-05)
0.23.3 (2018-03-09)
0.23.2 (2018-03-07)
0.23.1 (2018-02-27)
0.23.0 (2018-02-03)
0.22.0 (2017-12-11)
0.21.5 (2017-11-16)
0.21.4 (2017-11-01)
0.21.3 (2017-10-28)
0.21.2 (2017-09-25)
0.21.1 (2017-09-22)
0.21.0 (2017-09-14)
0.20.1 (2017-08-28)
0.20.0 (2017-08-23)
0.19.0 (2017-05-05)
- cmake: remove Eigen warning
- Contributors: Vladimir Ermakov
0.18.7 (2017-02-24)
0.18.6 (2017-02-07)
0.18.5 (2016-12-12)
0.18.4 (2016-11-11)
- Update README for all packages
- Contributors: Vladimir Ermakov
0.18.3 (2016-07-07)
0.18.2 (2016-06-30)
0.18.1 (2016-06-24)
0.18.0 (2016-06-23)
- Test_mavros : fix compilation on gcc6.1
- Contributors: khancyr
0.17.3 (2016-05-20)
- test #546: Added check of control_toolbox version (1.14.0) In Kinetic control_toolbox changed API of Pid::initPid().
- Contributors: Vladimir Ermakov
0.17.2 (2016-04-29)
0.17.1 (2016-03-28)
0.17.0 (2016-02-09)
- rebased with master
- Contributors: francois
0.16.6 (2016-02-04)
0.16.5 (2016-01-11)
0.16.4 (2015-12-14)
- updated local position subscription topic
- Contributors: Andreas Antener
0.16.3 (2015-11-19)
0.16.2 (2015-11-17)
0.16.1 (2015-11-13)
0.16.0 (2015-11-09)
0.15.0 (2015-09-17)
- test: update readme
- test: add required plugins
- test: new test for local_position + SSP (#387) + URDF
- test: add schematic plane urdf
- Contributors: Vladimir Ermakov
0.14.2 (2015-08-20)
- test: fix depend on angles, fix catkin lint warnings
- Contributors: Vladimir Ermakov
0.14.1 (2015-08-19)
0.14.0 (2015-08-17)
- test fix #368: use mavros.setpoint module in demo
- test: #368: initial import of setpoint_demo.py
- test: Fix library name.
- test_mavros: pid_controller: declare PID variables as local
- test_mavros: move headers to include/test_mavros and setup for install
- test_mavros: removed pid_controller as lib; instantiate object so to use on offboard test
- test_mavros: CMakeLists: small ident correction
- test_mavros: pid_controller: include <array> so to make Travis happy
- test_mavros: added PID controller utility for velocity control on tests
- test_mavros: changed test_type to test_setup; namespace also
- Contributors: TSC21, Vladimir Ermakov
0.13.1 (2015-08-05)
- test: add link to APM sitl video
- test_mavros: put acceleration note out of title
- Minor titles correction
- test_mavros: update README.md with tutorial to use PX4 ROS SITL
- Contributors: TSC21, Vladimir Ermakov
0.13.0 (2015-08-01)
- Update iris_empty_world_offboard_ctl.launch
- test: fix prerelease building
- test: move launch
- sitl_tests: turn pos_setpoint code more elegant
- sitl_tests: minor code tweak; use angles.h package
- sitl_tests: offboard_control: included array lib; init threshold in constructor
- sitl_tests: added normal distribution position error threshold generator
- sitl_tests: add eigen dependency to CMakeLists and package.xml
- sitl_tests: "eigenize" offboard_control code; generalize offb control launch file
- sitl_tests: added px4 and rotors_simulator packages to package.xml dependencies
- sitl_tests: define [sitl_tests]{.title-ref} group; change [tgt_component]{.title-ref} to 1
- sitl_tests: offboard_mode: minor code refining
- sitl_tests: code cleaning
- sitl_tests: uncrustify code
- sitl_tests: offboard_control: velocity: added eight and ellipse-shaped paths
- sitl_tests: offboard_control: velocity: added circle-shaped path
- sitl_tests: added offboard velocity control - square shaped path for now
- sitl_tests: offboard_control: added ellipse-shaped path
- sitl_tests: offboard_control: added circle-shaped path
- sitl_tests: generalize offboard posctl so it can handle vel/accel control; added support to "eight" sphaped path
- sitl_tests: added base node
- sitl_test: added integrated launch file for OFFB POSCTL square shape
- sitl_tests: turn sitl_test_node as generic node to both APM and PX4
- sitl_tests: test structure definition; first working test routine
- test: import launch for imu testing
- test: apm sitl and imu test reproduction steps
- test: Add test_marvros package stub
- Contributors: TSC21, Vladimir Ermakov, wangsen1312
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| angles | |
| cmake_modules | |
| catkin | |
| roscpp | |
| std_msgs | |
| geometry_msgs | |
| tf2_ros | |
| mavros | |
| mavros_extras | |
| eigen_conversions | |
| control_toolbox |
System Dependencies
| Name |
|---|
| eigen |
Dependant Packages
No known dependants.
Launch files
- launch/base_node.launch
-
- args
- num_of_tests
- rate
- use_pid
- mode
- shape
- linvel_p_gain
- linvel_i_gain
- linvel_d_gain
- linvel_i_max
- linvel_i_min
- yawrate_p_gain
- yawrate_i_gain
- yawrate_d_gain
- yawrate_i_max
- yawrate_i_min
- launch/apm/apm_imu_test.launch
- launch/apm/schematic_plane_rviz.launch
- launch/apm/apm_local_position_test.launch
- launch/px4/iris_empty_world_offboard_ctl.launch
-
- headless [default: false]
- gui [default: true]
- enable_logging [default: false]
- enable_ground_truth [default: true]
- ns [default: iris]
- log_file [default: $(arg ns)]
- fcu_url [default: udp://localhost:14560@localhost:14565]
- gcs_url [default: ]
- tgt_system [default: 1]
- tgt_component [default: 1]
- num_of_tests [default: 1]
- rate [default: 10.0]
- use_pid [default: true]
- mode [default: position]
- shape [default: square]
- linvel_p_gain [default: 0.4]
- linvel_i_gain [default: 0.05]
- linvel_d_gain [default: 0.12]
- linvel_i_max [default: 0.1]
- linvel_i_min [default: -0.1]
- yawrate_p_gain [default: 0.011]
- yawrate_i_gain [default: 0.00058]
- yawrate_d_gain [default: 0.12]
- yawrate_i_max [default: 0.005]
- yawrate_i_min [default: -0.005]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged test_mavros at Robotics Stack Exchange
No questions yet, you can ask one here.
Failed to get question list, you can ticket an issue here
No version for distro ardent. Known supported distros are highlighted in the buttons above.
No version for distro bouncy. Known supported distros are highlighted in the buttons above.
No version for distro crystal. Known supported distros are highlighted in the buttons above.
No version for distro eloquent. Known supported distros are highlighted in the buttons above.
No version for distro dashing. Known supported distros are highlighted in the buttons above.
No version for distro galactic. Known supported distros are highlighted in the buttons above.
No version for distro foxy. Known supported distros are highlighted in the buttons above.
No version for distro iron. Known supported distros are highlighted in the buttons above.
|
|
test_mavros package from mavros repolibmavconn mavros mavros_extras mavros_msgs test_mavros |
Package Summary
| Tags | No category tags. |
| Version | 1.20.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/mavlink/mavros.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2024-10-10 |
| Dev Status | DEVELOPED |
| CI status | Continuous Integration |
| Released | RELEASED |
| Tags | uav mav mavlink plugin apm px4 |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Tests for MAVROS package
Additional Links
Maintainers
- Vladimir Ermakov
Authors
- Nuno Marques
- Vladimir Ermakov
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
CHANGELOG
Changelog for package test_mavros
1.20.0 (2024-10-10)
1.19.0 (2024-06-06)
1.18.0 (2024-03-03)
1.17.0 (2023-09-09)
- Merge pull request #1865 from scoutdi/warnings Fix / suppress some build warnings
- Suppress warnings from included headers
- Contributors: Morten Fyhn Amundsen, Vladimir Ermakov
1.16.0 (2023-05-05)
1.15.0 (2022-12-30)
1.14.0 (2022-09-24)
1.13.0 (2022-01-13)
1.12.2 (2021-12-12)
1.12.1 (2021-11-29)
1.12.0 (2021-11-27)
1.11.1 (2021-11-24)
1.11.0 (2021-11-24)
1.10.0 (2021-11-04)
1.9.0 (2021-09-09)
1.8.0 (2021-05-05)
1.7.1 (2021-04-05)
1.7.0 (2021-04-05)
1.6.0 (2021-02-15)
1.5.2 (2021-02-02)
1.5.1 (2021-01-04)
1.5.0 (2020-11-11)
1.4.0 (2020-09-11)
1.3.0 (2020-08-08)
1.2.0 (2020-05-22)
1.1.0 (2020-04-04)
1.0.0 (2020-01-01)
0.33.4 (2019-12-12)
0.33.3 (2019-11-13)
0.33.2 (2019-11-13)
0.33.1 (2019-11-11)
- resolved merge conflict
- Contributors: David Jablonski
0.33.0 (2019-10-10)
0.32.2 (2019-09-09)
0.32.1 (2019-08-08)
0.32.0 (2019-07-06)
0.31.0 (2019-06-07)
0.30.0 (2019-05-20)
0.29.2 (2019-03-06)
0.29.1 (2019-03-03)
- All: catkin lint files
- Contributors: Pierre Kancir
0.29.0 (2019-02-02)
- Merge branch 'master' into param-timeout
- Contributors: Vladimir Ermakov
0.28.0 (2019-01-03)
0.27.0 (2018-11-12)
0.26.3 (2018-08-21)
0.26.2 (2018-08-08)
0.26.1 (2018-07-19)
0.26.0 (2018-06-06)
0.25.1 (2018-05-14)
0.25.0 (2018-05-11)
0.24.0 (2018-04-05)
0.23.3 (2018-03-09)
0.23.2 (2018-03-07)
0.23.1 (2018-02-27)
0.23.0 (2018-02-03)
0.22.0 (2017-12-11)
0.21.5 (2017-11-16)
0.21.4 (2017-11-01)
0.21.3 (2017-10-28)
0.21.2 (2017-09-25)
0.21.1 (2017-09-22)
0.21.0 (2017-09-14)
0.20.1 (2017-08-28)
0.20.0 (2017-08-23)
0.19.0 (2017-05-05)
- cmake: remove Eigen warning
- Contributors: Vladimir Ermakov
0.18.7 (2017-02-24)
0.18.6 (2017-02-07)
0.18.5 (2016-12-12)
0.18.4 (2016-11-11)
- Update README for all packages
- Contributors: Vladimir Ermakov
0.18.3 (2016-07-07)
0.18.2 (2016-06-30)
0.18.1 (2016-06-24)
0.18.0 (2016-06-23)
- Test_mavros : fix compilation on gcc6.1
- Contributors: khancyr
0.17.3 (2016-05-20)
- test #546: Added check of control_toolbox version (1.14.0) In Kinetic control_toolbox changed API of Pid::initPid().
- Contributors: Vladimir Ermakov
0.17.2 (2016-04-29)
0.17.1 (2016-03-28)
0.17.0 (2016-02-09)
- rebased with master
- Contributors: francois
0.16.6 (2016-02-04)
0.16.5 (2016-01-11)
0.16.4 (2015-12-14)
- updated local position subscription topic
- Contributors: Andreas Antener
0.16.3 (2015-11-19)
0.16.2 (2015-11-17)
0.16.1 (2015-11-13)
0.16.0 (2015-11-09)
0.15.0 (2015-09-17)
- test: update readme
- test: add required plugins
- test: new test for local_position + SSP (#387) + URDF
- test: add schematic plane urdf
- Contributors: Vladimir Ermakov
0.14.2 (2015-08-20)
- test: fix depend on angles, fix catkin lint warnings
- Contributors: Vladimir Ermakov
0.14.1 (2015-08-19)
0.14.0 (2015-08-17)
- test fix #368: use mavros.setpoint module in demo
- test: #368: initial import of setpoint_demo.py
- test: Fix library name.
- test_mavros: pid_controller: declare PID variables as local
- test_mavros: move headers to include/test_mavros and setup for install
- test_mavros: removed pid_controller as lib; instantiate object so to use on offboard test
- test_mavros: CMakeLists: small ident correction
- test_mavros: pid_controller: include <array> so to make Travis happy
- test_mavros: added PID controller utility for velocity control on tests
- test_mavros: changed test_type to test_setup; namespace also
- Contributors: TSC21, Vladimir Ermakov
0.13.1 (2015-08-05)
- test: add link to APM sitl video
- test_mavros: put acceleration note out of title
- Minor titles correction
- test_mavros: update README.md with tutorial to use PX4 ROS SITL
- Contributors: TSC21, Vladimir Ermakov
0.13.0 (2015-08-01)
- Update iris_empty_world_offboard_ctl.launch
- test: fix prerelease building
- test: move launch
- sitl_tests: turn pos_setpoint code more elegant
- sitl_tests: minor code tweak; use angles.h package
- sitl_tests: offboard_control: included array lib; init threshold in constructor
- sitl_tests: added normal distribution position error threshold generator
- sitl_tests: add eigen dependency to CMakeLists and package.xml
- sitl_tests: "eigenize" offboard_control code; generalize offb control launch file
- sitl_tests: added px4 and rotors_simulator packages to package.xml dependencies
- sitl_tests: define [sitl_tests]{.title-ref} group; change [tgt_component]{.title-ref} to 1
- sitl_tests: offboard_mode: minor code refining
- sitl_tests: code cleaning
- sitl_tests: uncrustify code
- sitl_tests: offboard_control: velocity: added eight and ellipse-shaped paths
- sitl_tests: offboard_control: velocity: added circle-shaped path
- sitl_tests: added offboard velocity control - square shaped path for now
- sitl_tests: offboard_control: added ellipse-shaped path
- sitl_tests: offboard_control: added circle-shaped path
- sitl_tests: generalize offboard posctl so it can handle vel/accel control; added support to "eight" sphaped path
- sitl_tests: added base node
- sitl_test: added integrated launch file for OFFB POSCTL square shape
- sitl_tests: turn sitl_test_node as generic node to both APM and PX4
- sitl_tests: test structure definition; first working test routine
- test: import launch for imu testing
- test: apm sitl and imu test reproduction steps
- test: Add test_marvros package stub
- Contributors: TSC21, Vladimir Ermakov, wangsen1312
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| angles | |
| cmake_modules | |
| catkin | |
| roscpp | |
| std_msgs | |
| geometry_msgs | |
| tf2_ros | |
| mavros | |
| mavros_extras | |
| eigen_conversions | |
| control_toolbox |
System Dependencies
| Name |
|---|
| eigen |
Dependant Packages
No known dependants.
Launch files
- launch/base_node.launch
-
- args
- num_of_tests
- rate
- use_pid
- mode
- shape
- linvel_p_gain
- linvel_i_gain
- linvel_d_gain
- linvel_i_max
- linvel_i_min
- yawrate_p_gain
- yawrate_i_gain
- yawrate_d_gain
- yawrate_i_max
- yawrate_i_min
- launch/apm/apm_imu_test.launch
- launch/apm/schematic_plane_rviz.launch
- launch/apm/apm_local_position_test.launch
- launch/px4/iris_empty_world_offboard_ctl.launch
-
- headless [default: false]
- gui [default: true]
- enable_logging [default: false]
- enable_ground_truth [default: true]
- ns [default: iris]
- log_file [default: $(arg ns)]
- fcu_url [default: udp://localhost:14560@localhost:14565]
- gcs_url [default: ]
- tgt_system [default: 1]
- tgt_component [default: 1]
- num_of_tests [default: 1]
- rate [default: 10.0]
- use_pid [default: true]
- mode [default: position]
- shape [default: square]
- linvel_p_gain [default: 0.4]
- linvel_i_gain [default: 0.05]
- linvel_d_gain [default: 0.12]
- linvel_i_max [default: 0.1]
- linvel_i_min [default: -0.1]
- yawrate_p_gain [default: 0.011]
- yawrate_i_gain [default: 0.00058]
- yawrate_d_gain [default: 0.12]
- yawrate_i_max [default: 0.005]
- yawrate_i_min [default: -0.005]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged test_mavros at Robotics Stack Exchange
No questions yet, you can ask one here.
Failed to get question list, you can ticket an issue here
|
|
test_mavros package from mavros repolibmavconn mavros mavros_extras mavros_msgs test_mavros |
Package Summary
| Tags | No category tags. |
| Version | 0.17.5 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/mavlink/mavros.git |
| VCS Type | git |
| VCS Version | indigo-devel |
| Last Updated | 2017-02-07 |
| Dev Status | DEVELOPED |
| CI status | Continuous Integration |
| Released | RELEASED |
| Tags | uav mav mavlink plugin apm px4 |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Tests for MAVROS package
Additional Links
Maintainers
- Vladimir Ermakov
Authors
- Nuno Marques
- Vladimir Ermakov
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 propper 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
CHANGELOG
Changelog for package test_mavros
0.17.5 (2017-02-07)
0.17.4 (2016-06-23)
- Test_mavros : fix compilation on gcc6.1
- Contributors: khancyr
0.17.3 (2016-05-20)
- test #546: Added check of control_toolbox version (1.14.0) In Kinetic control_toolbox changed API of Pid::initPid().
- Contributors: Vladimir Ermakov
0.17.2 (2016-04-29)
0.17.1 (2016-03-28)
0.17.0 (2016-02-09)
- rebased with master
- Contributors: francois
0.16.6 (2016-02-04)
0.16.5 (2016-01-11)
0.16.4 (2015-12-14)
- updated local position subscription topic
- Contributors: Andreas Antener
0.16.3 (2015-11-19)
0.16.2 (2015-11-17)
0.16.1 (2015-11-13)
0.16.0 (2015-11-09)
0.15.0 (2015-09-17)
- test: update readme
- test: add required plugins
- test: new test for local_position + SSP (#387) + URDF
- test: add schematic plane urdf
- Contributors: Vladimir Ermakov
0.14.2 (2015-08-20)
- test: fix depend on angles, fix catkin lint warnings
- Contributors: Vladimir Ermakov
0.14.1 (2015-08-19)
0.14.0 (2015-08-17)
- test fix #368: use mavros.setpoint module in demo
- test: #368: initial import of setpoint_demo.py
- test: Fix library name.
- test_mavros: pid_controller: declare PID variables as local
- test_mavros: move headers to include/test_mavros and setup for install
- test_mavros: removed pid_controller as lib; instantiate object so to use on offboard test
- test_mavros: CMakeLists: small ident correction
- test_mavros: pid_controller: include <array> so to make Travis happy
- test_mavros: added PID controller utility for velocity control on tests
- test_mavros: changed test_type to test_setup; namespace also
- Contributors: TSC21, Vladimir Ermakov
0.13.1 (2015-08-05)
- test: add link to APM sitl video
- test_mavros: put acceleration note out of title
- Minor titles correction
- test_mavros: update README.md with tutorial to use PX4 ROS SITL
- Contributors: TSC21, Vladimir Ermakov
0.13.0 (2015-08-01)
- Update iris_empty_world_offboard_ctl.launch
- test: fix prerelease building
- test: move launch
- sitl_tests: turn pos_setpoint code more elegant
- sitl_tests: minor code tweak; use angles.h package
- sitl_tests: offboard_control: included array lib; init threshold in constructor
- sitl_tests: added normal distribution position error threshold generator
- sitl_tests: add eigen dependency to CMakeLists and package.xml
- sitl_tests: "eigenize" offboard_control code; generalize offb control launch file
- sitl_tests: added px4 and rotors_simulator packages to package.xml dependencies
- sitl_tests: define [sitl_tests]{.title-ref} group; change [tgt_component]{.title-ref} to 1
- sitl_tests: offboard_mode: minor code refining
- sitl_tests: code cleaning
- sitl_tests: uncrustify code
- sitl_tests: offboard_control: velocity: added eight and ellipse-shaped paths
- sitl_tests: offboard_control: velocity: added circle-shaped path
- sitl_tests: added offboard velocity control - square shaped path for now
- sitl_tests: offboard_control: added ellipse-shaped path
- sitl_tests: offboard_control: added circle-shaped path
- sitl_tests: generalize offboard posctl so it can handle vel/accel control; added support to "eight" sphaped path
- sitl_tests: added base node
- sitl_test: added integrated launch file for OFFB POSCTL square shape
- sitl_tests: turn sitl_test_node as generic node to both APM and PX4
- sitl_tests: test structure definition; first working test routine
- test: import launch for imu testing
- test: apm sitl and imu test reproduction steps
- test: Add test_marvros package stub
- Contributors: TSC21, Vladimir Ermakov, wangsen1312
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| angles | |
| cmake_modules | |
| catkin | |
| roscpp | |
| std_msgs | |
| geometry_msgs | |
| tf2_ros | |
| mavros | |
| mavros_extras | |
| eigen_conversions | |
| control_toolbox |
System Dependencies
| Name |
|---|
| eigen |
Dependant Packages
No known dependants.
Launch files
- launch/base_node.launch
-
- args
- num_of_tests
- rate
- use_pid
- mode
- shape
- linvel_p_gain
- linvel_i_gain
- linvel_d_gain
- linvel_i_max
- linvel_i_min
- yawrate_p_gain
- yawrate_i_gain
- yawrate_d_gain
- yawrate_i_max
- yawrate_i_min
- launch/apm/apm_imu_test.launch
- launch/apm/schematic_plane_rviz.launch
- launch/apm/apm_local_position_test.launch
- launch/px4/iris_empty_world_offboard_ctl.launch
-
- headless [default: false]
- gui [default: true]
- enable_logging [default: false]
- enable_ground_truth [default: true]
- ns [default: iris]
- log_file [default: $(arg ns)]
- fcu_url [default: udp://localhost:14560@localhost:14565]
- gcs_url [default: ]
- tgt_system [default: 1]
- tgt_component [default: 1]
- num_of_tests [default: 1]
- rate [default: 10.0]
- use_pid [default: true]
- mode [default: position]
- shape [default: square]
- linvel_p_gain [default: 0.4]
- linvel_i_gain [default: 0.05]
- linvel_d_gain [default: 0.12]
- linvel_i_max [default: 0.1]
- linvel_i_min [default: -0.1]
- yawrate_p_gain [default: 0.011]
- yawrate_i_gain [default: 0.00058]
- yawrate_d_gain [default: 0.12]
- yawrate_i_max [default: 0.005]
- yawrate_i_min [default: -0.005]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged test_mavros at Robotics Stack Exchange
No questions yet, you can ask one here.
Failed to get question list, you can ticket an issue here
|
|
test_mavros package from mavros repolibmavconn mavros mavros_extras mavros_msgs test_mavros |
Package Summary
| Tags | No category tags. |
| Version | 0.17.5 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/mavlink/mavros.git |
| VCS Type | git |
| VCS Version | indigo-devel |
| Last Updated | 2017-02-07 |
| Dev Status | DEVELOPED |
| CI status | Continuous Integration |
| Released | RELEASED |
| Tags | uav mav mavlink plugin apm px4 |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Tests for MAVROS package
Additional Links
Maintainers
- Vladimir Ermakov
Authors
- Nuno Marques
- Vladimir Ermakov
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 propper 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
CHANGELOG
Changelog for package test_mavros
0.17.5 (2017-02-07)
0.17.4 (2016-06-23)
- Test_mavros : fix compilation on gcc6.1
- Contributors: khancyr
0.17.3 (2016-05-20)
- test #546: Added check of control_toolbox version (1.14.0) In Kinetic control_toolbox changed API of Pid::initPid().
- Contributors: Vladimir Ermakov
0.17.2 (2016-04-29)
0.17.1 (2016-03-28)
0.17.0 (2016-02-09)
- rebased with master
- Contributors: francois
0.16.6 (2016-02-04)
0.16.5 (2016-01-11)
0.16.4 (2015-12-14)
- updated local position subscription topic
- Contributors: Andreas Antener
0.16.3 (2015-11-19)
0.16.2 (2015-11-17)
0.16.1 (2015-11-13)
0.16.0 (2015-11-09)
0.15.0 (2015-09-17)
- test: update readme
- test: add required plugins
- test: new test for local_position + SSP (#387) + URDF
- test: add schematic plane urdf
- Contributors: Vladimir Ermakov
0.14.2 (2015-08-20)
- test: fix depend on angles, fix catkin lint warnings
- Contributors: Vladimir Ermakov
0.14.1 (2015-08-19)
0.14.0 (2015-08-17)
- test fix #368: use mavros.setpoint module in demo
- test: #368: initial import of setpoint_demo.py
- test: Fix library name.
- test_mavros: pid_controller: declare PID variables as local
- test_mavros: move headers to include/test_mavros and setup for install
- test_mavros: removed pid_controller as lib; instantiate object so to use on offboard test
- test_mavros: CMakeLists: small ident correction
- test_mavros: pid_controller: include <array> so to make Travis happy
- test_mavros: added PID controller utility for velocity control on tests
- test_mavros: changed test_type to test_setup; namespace also
- Contributors: TSC21, Vladimir Ermakov
0.13.1 (2015-08-05)
- test: add link to APM sitl video
- test_mavros: put acceleration note out of title
- Minor titles correction
- test_mavros: update README.md with tutorial to use PX4 ROS SITL
- Contributors: TSC21, Vladimir Ermakov
0.13.0 (2015-08-01)
- Update iris_empty_world_offboard_ctl.launch
- test: fix prerelease building
- test: move launch
- sitl_tests: turn pos_setpoint code more elegant
- sitl_tests: minor code tweak; use angles.h package
- sitl_tests: offboard_control: included array lib; init threshold in constructor
- sitl_tests: added normal distribution position error threshold generator
- sitl_tests: add eigen dependency to CMakeLists and package.xml
- sitl_tests: "eigenize" offboard_control code; generalize offb control launch file
- sitl_tests: added px4 and rotors_simulator packages to package.xml dependencies
- sitl_tests: define [sitl_tests]{.title-ref} group; change [tgt_component]{.title-ref} to 1
- sitl_tests: offboard_mode: minor code refining
- sitl_tests: code cleaning
- sitl_tests: uncrustify code
- sitl_tests: offboard_control: velocity: added eight and ellipse-shaped paths
- sitl_tests: offboard_control: velocity: added circle-shaped path
- sitl_tests: added offboard velocity control - square shaped path for now
- sitl_tests: offboard_control: added ellipse-shaped path
- sitl_tests: offboard_control: added circle-shaped path
- sitl_tests: generalize offboard posctl so it can handle vel/accel control; added support to "eight" sphaped path
- sitl_tests: added base node
- sitl_test: added integrated launch file for OFFB POSCTL square shape
- sitl_tests: turn sitl_test_node as generic node to both APM and PX4
- sitl_tests: test structure definition; first working test routine
- test: import launch for imu testing
- test: apm sitl and imu test reproduction steps
- test: Add test_marvros package stub
- Contributors: TSC21, Vladimir Ermakov, wangsen1312
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| angles | |
| cmake_modules | |
| catkin | |
| roscpp | |
| std_msgs | |
| geometry_msgs | |
| tf2_ros | |
| mavros | |
| mavros_extras | |
| eigen_conversions | |
| control_toolbox |
System Dependencies
| Name |
|---|
| eigen |
Dependant Packages
No known dependants.
Launch files
- launch/base_node.launch
-
- args
- num_of_tests
- rate
- use_pid
- mode
- shape
- linvel_p_gain
- linvel_i_gain
- linvel_d_gain
- linvel_i_max
- linvel_i_min
- yawrate_p_gain
- yawrate_i_gain
- yawrate_d_gain
- yawrate_i_max
- yawrate_i_min
- launch/apm/apm_imu_test.launch
- launch/apm/schematic_plane_rviz.launch
- launch/apm/apm_local_position_test.launch
- launch/px4/iris_empty_world_offboard_ctl.launch
-
- headless [default: false]
- gui [default: true]
- enable_logging [default: false]
- enable_ground_truth [default: true]
- ns [default: iris]
- log_file [default: $(arg ns)]
- fcu_url [default: udp://localhost:14560@localhost:14565]
- gcs_url [default: ]
- tgt_system [default: 1]
- tgt_component [default: 1]
- num_of_tests [default: 1]
- rate [default: 10.0]
- use_pid [default: true]
- mode [default: position]
- shape [default: square]
- linvel_p_gain [default: 0.4]
- linvel_i_gain [default: 0.05]
- linvel_d_gain [default: 0.12]
- linvel_i_max [default: 0.1]
- linvel_i_min [default: -0.1]
- yawrate_p_gain [default: 0.011]
- yawrate_i_gain [default: 0.00058]
- yawrate_d_gain [default: 0.12]
- yawrate_i_max [default: 0.005]
- yawrate_i_min [default: -0.005]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged test_mavros at Robotics Stack Exchange
No questions yet, you can ask one here.
Failed to get question list, you can ticket an issue here
No version for distro hydro. Known supported distros are highlighted in the buttons above.
|
|
test_mavros package from mavros repolibmavconn mavros mavros_extras mavros_msgs test_mavros |
Package Summary
| Tags | No category tags. |
| Version | 1.20.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/mavlink/mavros.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2024-10-10 |
| Dev Status | DEVELOPED |
| CI status | Continuous Integration |
| Released | RELEASED |
| Tags | uav mav mavlink plugin apm px4 |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Tests for MAVROS package
Additional Links
Maintainers
- Vladimir Ermakov
Authors
- Nuno Marques
- Vladimir Ermakov
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
CHANGELOG
Changelog for package test_mavros
1.20.0 (2024-10-10)
1.19.0 (2024-06-06)
1.18.0 (2024-03-03)
1.17.0 (2023-09-09)
- Merge pull request #1865 from scoutdi/warnings Fix / suppress some build warnings
- Suppress warnings from included headers
- Contributors: Morten Fyhn Amundsen, Vladimir Ermakov
1.16.0 (2023-05-05)
1.15.0 (2022-12-30)
1.14.0 (2022-09-24)
1.13.0 (2022-01-13)
1.12.2 (2021-12-12)
1.12.1 (2021-11-29)
1.12.0 (2021-11-27)
1.11.1 (2021-11-24)
1.11.0 (2021-11-24)
1.10.0 (2021-11-04)
1.9.0 (2021-09-09)
1.8.0 (2021-05-05)
1.7.1 (2021-04-05)
1.7.0 (2021-04-05)
1.6.0 (2021-02-15)
1.5.2 (2021-02-02)
1.5.1 (2021-01-04)
1.5.0 (2020-11-11)
1.4.0 (2020-09-11)
1.3.0 (2020-08-08)
1.2.0 (2020-05-22)
1.1.0 (2020-04-04)
1.0.0 (2020-01-01)
0.33.4 (2019-12-12)
0.33.3 (2019-11-13)
0.33.2 (2019-11-13)
0.33.1 (2019-11-11)
- resolved merge conflict
- Contributors: David Jablonski
0.33.0 (2019-10-10)
0.32.2 (2019-09-09)
0.32.1 (2019-08-08)
0.32.0 (2019-07-06)
0.31.0 (2019-06-07)
0.30.0 (2019-05-20)
0.29.2 (2019-03-06)
0.29.1 (2019-03-03)
- All: catkin lint files
- Contributors: Pierre Kancir
0.29.0 (2019-02-02)
- Merge branch 'master' into param-timeout
- Contributors: Vladimir Ermakov
0.28.0 (2019-01-03)
0.27.0 (2018-11-12)
0.26.3 (2018-08-21)
0.26.2 (2018-08-08)
0.26.1 (2018-07-19)
0.26.0 (2018-06-06)
0.25.1 (2018-05-14)
0.25.0 (2018-05-11)
0.24.0 (2018-04-05)
0.23.3 (2018-03-09)
0.23.2 (2018-03-07)
0.23.1 (2018-02-27)
0.23.0 (2018-02-03)
0.22.0 (2017-12-11)
0.21.5 (2017-11-16)
0.21.4 (2017-11-01)
0.21.3 (2017-10-28)
0.21.2 (2017-09-25)
0.21.1 (2017-09-22)
0.21.0 (2017-09-14)
0.20.1 (2017-08-28)
0.20.0 (2017-08-23)
0.19.0 (2017-05-05)
- cmake: remove Eigen warning
- Contributors: Vladimir Ermakov
0.18.7 (2017-02-24)
0.18.6 (2017-02-07)
0.18.5 (2016-12-12)
0.18.4 (2016-11-11)
- Update README for all packages
- Contributors: Vladimir Ermakov
0.18.3 (2016-07-07)
0.18.2 (2016-06-30)
0.18.1 (2016-06-24)
0.18.0 (2016-06-23)
- Test_mavros : fix compilation on gcc6.1
- Contributors: khancyr
0.17.3 (2016-05-20)
- test #546: Added check of control_toolbox version (1.14.0) In Kinetic control_toolbox changed API of Pid::initPid().
- Contributors: Vladimir Ermakov
0.17.2 (2016-04-29)
0.17.1 (2016-03-28)
0.17.0 (2016-02-09)
- rebased with master
- Contributors: francois
0.16.6 (2016-02-04)
0.16.5 (2016-01-11)
0.16.4 (2015-12-14)
- updated local position subscription topic
- Contributors: Andreas Antener
0.16.3 (2015-11-19)
0.16.2 (2015-11-17)
0.16.1 (2015-11-13)
0.16.0 (2015-11-09)
0.15.0 (2015-09-17)
- test: update readme
- test: add required plugins
- test: new test for local_position + SSP (#387) + URDF
- test: add schematic plane urdf
- Contributors: Vladimir Ermakov
0.14.2 (2015-08-20)
- test: fix depend on angles, fix catkin lint warnings
- Contributors: Vladimir Ermakov
0.14.1 (2015-08-19)
0.14.0 (2015-08-17)
- test fix #368: use mavros.setpoint module in demo
- test: #368: initial import of setpoint_demo.py
- test: Fix library name.
- test_mavros: pid_controller: declare PID variables as local
- test_mavros: move headers to include/test_mavros and setup for install
- test_mavros: removed pid_controller as lib; instantiate object so to use on offboard test
- test_mavros: CMakeLists: small ident correction
- test_mavros: pid_controller: include <array> so to make Travis happy
- test_mavros: added PID controller utility for velocity control on tests
- test_mavros: changed test_type to test_setup; namespace also
- Contributors: TSC21, Vladimir Ermakov
0.13.1 (2015-08-05)
- test: add link to APM sitl video
- test_mavros: put acceleration note out of title
- Minor titles correction
- test_mavros: update README.md with tutorial to use PX4 ROS SITL
- Contributors: TSC21, Vladimir Ermakov
0.13.0 (2015-08-01)
- Update iris_empty_world_offboard_ctl.launch
- test: fix prerelease building
- test: move launch
- sitl_tests: turn pos_setpoint code more elegant
- sitl_tests: minor code tweak; use angles.h package
- sitl_tests: offboard_control: included array lib; init threshold in constructor
- sitl_tests: added normal distribution position error threshold generator
- sitl_tests: add eigen dependency to CMakeLists and package.xml
- sitl_tests: "eigenize" offboard_control code; generalize offb control launch file
- sitl_tests: added px4 and rotors_simulator packages to package.xml dependencies
- sitl_tests: define [sitl_tests]{.title-ref} group; change [tgt_component]{.title-ref} to 1
- sitl_tests: offboard_mode: minor code refining
- sitl_tests: code cleaning
- sitl_tests: uncrustify code
- sitl_tests: offboard_control: velocity: added eight and ellipse-shaped paths
- sitl_tests: offboard_control: velocity: added circle-shaped path
- sitl_tests: added offboard velocity control - square shaped path for now
- sitl_tests: offboard_control: added ellipse-shaped path
- sitl_tests: offboard_control: added circle-shaped path
- sitl_tests: generalize offboard posctl so it can handle vel/accel control; added support to "eight" sphaped path
- sitl_tests: added base node
- sitl_test: added integrated launch file for OFFB POSCTL square shape
- sitl_tests: turn sitl_test_node as generic node to both APM and PX4
- sitl_tests: test structure definition; first working test routine
- test: import launch for imu testing
- test: apm sitl and imu test reproduction steps
- test: Add test_marvros package stub
- Contributors: TSC21, Vladimir Ermakov, wangsen1312
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| angles | |
| cmake_modules | |
| catkin | |
| roscpp | |
| std_msgs | |
| geometry_msgs | |
| tf2_ros | |
| mavros | |
| mavros_extras | |
| eigen_conversions | |
| control_toolbox |
System Dependencies
| Name |
|---|
| eigen |
Dependant Packages
No known dependants.
Launch files
- launch/base_node.launch
-
- args
- num_of_tests
- rate
- use_pid
- mode
- shape
- linvel_p_gain
- linvel_i_gain
- linvel_d_gain
- linvel_i_max
- linvel_i_min
- yawrate_p_gain
- yawrate_i_gain
- yawrate_d_gain
- yawrate_i_max
- yawrate_i_min
- launch/apm/apm_imu_test.launch
- launch/apm/schematic_plane_rviz.launch
- launch/apm/apm_local_position_test.launch
- launch/px4/iris_empty_world_offboard_ctl.launch
-
- headless [default: false]
- gui [default: true]
- enable_logging [default: false]
- enable_ground_truth [default: true]
- ns [default: iris]
- log_file [default: $(arg ns)]
- fcu_url [default: udp://localhost:14560@localhost:14565]
- gcs_url [default: ]
- tgt_system [default: 1]
- tgt_component [default: 1]
- num_of_tests [default: 1]
- rate [default: 10.0]
- use_pid [default: true]
- mode [default: position]
- shape [default: square]
- linvel_p_gain [default: 0.4]
- linvel_i_gain [default: 0.05]
- linvel_d_gain [default: 0.12]
- linvel_i_max [default: 0.1]
- linvel_i_min [default: -0.1]
- yawrate_p_gain [default: 0.011]
- yawrate_i_gain [default: 0.00058]
- yawrate_d_gain [default: 0.12]
- yawrate_i_max [default: 0.005]
- yawrate_i_min [default: -0.005]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged test_mavros at Robotics Stack Exchange
No questions yet, you can ask one here.
Failed to get question list, you can ticket an issue here
|
|
test_mavros package from mavros repolibmavconn mavros mavros_extras mavros_msgs test_mavros |
Package Summary
| Tags | No category tags. |
| Version | 1.20.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/mavlink/mavros.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2024-10-10 |
| Dev Status | DEVELOPED |
| CI status |
|
| Released | RELEASED |
| Tags | uav mav mavlink plugin apm px4 |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Tests for MAVROS package
Additional Links
Maintainers
- Vladimir Ermakov
Authors
- Nuno Marques
- Vladimir Ermakov
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
CHANGELOG
Changelog for package test_mavros
1.20.0 (2024-10-10)
1.19.0 (2024-06-06)
1.18.0 (2024-03-03)
1.17.0 (2023-09-09)
- Merge pull request #1865 from scoutdi/warnings Fix / suppress some build warnings
- Suppress warnings from included headers
- Contributors: Morten Fyhn Amundsen, Vladimir Ermakov
1.16.0 (2023-05-05)
1.15.0 (2022-12-30)
1.14.0 (2022-09-24)
1.13.0 (2022-01-13)
1.12.2 (2021-12-12)
1.12.1 (2021-11-29)
1.12.0 (2021-11-27)
1.11.1 (2021-11-24)
1.11.0 (2021-11-24)
1.10.0 (2021-11-04)
1.9.0 (2021-09-09)
1.8.0 (2021-05-05)
1.7.1 (2021-04-05)
1.7.0 (2021-04-05)
1.6.0 (2021-02-15)
1.5.2 (2021-02-02)
1.5.1 (2021-01-04)
1.5.0 (2020-11-11)
1.4.0 (2020-09-11)
1.3.0 (2020-08-08)
1.2.0 (2020-05-22)
1.1.0 (2020-04-04)
1.0.0 (2020-01-01)
0.33.4 (2019-12-12)
0.33.3 (2019-11-13)
0.33.2 (2019-11-13)
0.33.1 (2019-11-11)
- resolved merge conflict
- Contributors: David Jablonski
0.33.0 (2019-10-10)
0.32.2 (2019-09-09)
0.32.1 (2019-08-08)
0.32.0 (2019-07-06)
0.31.0 (2019-06-07)
0.30.0 (2019-05-20)
0.29.2 (2019-03-06)
0.29.1 (2019-03-03)
- All: catkin lint files
- Contributors: Pierre Kancir
0.29.0 (2019-02-02)
- Merge branch 'master' into param-timeout
- Contributors: Vladimir Ermakov
0.28.0 (2019-01-03)
0.27.0 (2018-11-12)
0.26.3 (2018-08-21)
0.26.2 (2018-08-08)
0.26.1 (2018-07-19)
0.26.0 (2018-06-06)
0.25.1 (2018-05-14)
0.25.0 (2018-05-11)
0.24.0 (2018-04-05)
0.23.3 (2018-03-09)
0.23.2 (2018-03-07)
0.23.1 (2018-02-27)
0.23.0 (2018-02-03)
0.22.0 (2017-12-11)
0.21.5 (2017-11-16)
0.21.4 (2017-11-01)
0.21.3 (2017-10-28)
0.21.2 (2017-09-25)
0.21.1 (2017-09-22)
0.21.0 (2017-09-14)
0.20.1 (2017-08-28)
0.20.0 (2017-08-23)
0.19.0 (2017-05-05)
- cmake: remove Eigen warning
- Contributors: Vladimir Ermakov
0.18.7 (2017-02-24)
0.18.6 (2017-02-07)
0.18.5 (2016-12-12)
0.18.4 (2016-11-11)
- Update README for all packages
- Contributors: Vladimir Ermakov
0.18.3 (2016-07-07)
0.18.2 (2016-06-30)
0.18.1 (2016-06-24)
0.18.0 (2016-06-23)
- Test_mavros : fix compilation on gcc6.1
- Contributors: khancyr
0.17.3 (2016-05-20)
- test #546: Added check of control_toolbox version (1.14.0) In Kinetic control_toolbox changed API of Pid::initPid().
- Contributors: Vladimir Ermakov
0.17.2 (2016-04-29)
0.17.1 (2016-03-28)
0.17.0 (2016-02-09)
- rebased with master
- Contributors: francois
0.16.6 (2016-02-04)
0.16.5 (2016-01-11)
0.16.4 (2015-12-14)
- updated local position subscription topic
- Contributors: Andreas Antener
0.16.3 (2015-11-19)
0.16.2 (2015-11-17)
0.16.1 (2015-11-13)
0.16.0 (2015-11-09)
0.15.0 (2015-09-17)
- test: update readme
- test: add required plugins
- test: new test for local_position + SSP (#387) + URDF
- test: add schematic plane urdf
- Contributors: Vladimir Ermakov
0.14.2 (2015-08-20)
- test: fix depend on angles, fix catkin lint warnings
- Contributors: Vladimir Ermakov
0.14.1 (2015-08-19)
0.14.0 (2015-08-17)
- test fix #368: use mavros.setpoint module in demo
- test: #368: initial import of setpoint_demo.py
- test: Fix library name.
- test_mavros: pid_controller: declare PID variables as local
- test_mavros: move headers to include/test_mavros and setup for install
- test_mavros: removed pid_controller as lib; instantiate object so to use on offboard test
- test_mavros: CMakeLists: small ident correction
- test_mavros: pid_controller: include <array> so to make Travis happy
- test_mavros: added PID controller utility for velocity control on tests
- test_mavros: changed test_type to test_setup; namespace also
- Contributors: TSC21, Vladimir Ermakov
0.13.1 (2015-08-05)
- test: add link to APM sitl video
- test_mavros: put acceleration note out of title
- Minor titles correction
- test_mavros: update README.md with tutorial to use PX4 ROS SITL
- Contributors: TSC21, Vladimir Ermakov
0.13.0 (2015-08-01)
- Update iris_empty_world_offboard_ctl.launch
- test: fix prerelease building
- test: move launch
- sitl_tests: turn pos_setpoint code more elegant
- sitl_tests: minor code tweak; use angles.h package
- sitl_tests: offboard_control: included array lib; init threshold in constructor
- sitl_tests: added normal distribution position error threshold generator
- sitl_tests: add eigen dependency to CMakeLists and package.xml
- sitl_tests: "eigenize" offboard_control code; generalize offb control launch file
- sitl_tests: added px4 and rotors_simulator packages to package.xml dependencies
- sitl_tests: define [sitl_tests]{.title-ref} group; change [tgt_component]{.title-ref} to 1
- sitl_tests: offboard_mode: minor code refining
- sitl_tests: code cleaning
- sitl_tests: uncrustify code
- sitl_tests: offboard_control: velocity: added eight and ellipse-shaped paths
- sitl_tests: offboard_control: velocity: added circle-shaped path
- sitl_tests: added offboard velocity control - square shaped path for now
- sitl_tests: offboard_control: added ellipse-shaped path
- sitl_tests: offboard_control: added circle-shaped path
- sitl_tests: generalize offboard posctl so it can handle vel/accel control; added support to "eight" sphaped path
- sitl_tests: added base node
- sitl_test: added integrated launch file for OFFB POSCTL square shape
- sitl_tests: turn sitl_test_node as generic node to both APM and PX4
- sitl_tests: test structure definition; first working test routine
- test: import launch for imu testing
- test: apm sitl and imu test reproduction steps
- test: Add test_marvros package stub
- Contributors: TSC21, Vladimir Ermakov, wangsen1312
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| angles | |
| cmake_modules | |
| catkin | |
| roscpp | |
| std_msgs | |
| geometry_msgs | |
| tf2_ros | |
| mavros | |
| mavros_extras | |
| eigen_conversions | |
| control_toolbox |
System Dependencies
| Name |
|---|
| eigen |
Dependant Packages
No known dependants.
Launch files
- launch/base_node.launch
-
- args
- num_of_tests
- rate
- use_pid
- mode
- shape
- linvel_p_gain
- linvel_i_gain
- linvel_d_gain
- linvel_i_max
- linvel_i_min
- yawrate_p_gain
- yawrate_i_gain
- yawrate_d_gain
- yawrate_i_max
- yawrate_i_min
- launch/apm/apm_imu_test.launch
- launch/apm/schematic_plane_rviz.launch
- launch/apm/apm_local_position_test.launch
- launch/px4/iris_empty_world_offboard_ctl.launch
-
- headless [default: false]
- gui [default: true]
- enable_logging [default: false]
- enable_ground_truth [default: true]
- ns [default: iris]
- log_file [default: $(arg ns)]
- fcu_url [default: udp://localhost:14560@localhost:14565]
- gcs_url [default: ]
- tgt_system [default: 1]
- tgt_component [default: 1]
- num_of_tests [default: 1]
- rate [default: 10.0]
- use_pid [default: true]
- mode [default: position]
- shape [default: square]
- linvel_p_gain [default: 0.4]
- linvel_i_gain [default: 0.05]
- linvel_d_gain [default: 0.12]
- linvel_i_max [default: 0.1]
- linvel_i_min [default: -0.1]
- yawrate_p_gain [default: 0.011]
- yawrate_i_gain [default: 0.00058]
- yawrate_d_gain [default: 0.12]
- yawrate_i_max [default: 0.005]
- yawrate_i_min [default: -0.005]
Messages
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