mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-27 10:17:45 +08:00
add safe_landing_planner to CI
This commit is contained in:
Martina Rivizzigno
committed by
Daniel Agar
Daniel Agar
parent
14501dfdf2
commit
959a35b3bd
@@ -93,6 +93,13 @@ pipeline {
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vehicle: "iris_obs_avoid",
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vehicle: "iris_obs_avoid",
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run_script: "rostest_avoidance_run.sh"
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run_script: "rostest_avoidance_run.sh"
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],
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],
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[
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name: "MC_safe_landing",
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test: "mavros_posix_test_safe_landing.test",
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mission: "MC_safe_landing",
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vehicle: "iris_obs_avoid",
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run_script: "rostest_avoidance_run.sh"
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],
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]
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]
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@@ -380,6 +380,7 @@ tests_offboard: rostest
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tests_avoidance: rostest
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tests_avoidance: rostest
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@"$(SRC_DIR)"/test/rostest_avoidance_run.sh mavros_posix_test_avoidance.test
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@"$(SRC_DIR)"/test/rostest_avoidance_run.sh mavros_posix_test_avoidance.test
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@"$(SRC_DIR)"/test/rostest_avoidance_run.sh mavros_posix_test_safe_landing.test
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python_coverage:
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python_coverage:
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@mkdir -p "$(SRC_DIR)"/build/python_coverage
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@mkdir -p "$(SRC_DIR)"/build/python_coverage
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@@ -0,0 +1,107 @@
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{
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"fileType": "Plan",
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"geoFence": {
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"circles": [
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],
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"polygons": [
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],
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"version": 2
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},
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"groundStation": "QGroundControl",
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"mission": {
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"cruiseSpeed": 15,
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"firmwareType": 12,
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"hoverSpeed": 5,
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"items": [
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{
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"AMSLAltAboveTerrain": null,
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"Altitude": 18,
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"AltitudeMode": 1,
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"autoContinue": true,
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"command": 22,
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"doJumpId": 1,
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"frame": 3,
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"params": [
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15,
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0,
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0,
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null,
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47.3977394,
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8.5455942,
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18
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],
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"type": "SimpleItem"
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},
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{
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"AMSLAltAboveTerrain": null,
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"Altitude": 18,
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"AltitudeMode": 1,
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"autoContinue": true,
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"command": 16,
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"doJumpId": 2,
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"frame": 3,
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"params": [
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0,
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0,
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0,
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null,
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47.3977394,
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8.5456982,
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18
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],
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"type": "SimpleItem"
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},
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{
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"AMSLAltAboveTerrain": null,
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"Altitude": 18,
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"AltitudeMode": 1,
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"autoContinue": true,
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"command": 16,
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"doJumpId": 3,
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"frame": 3,
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"params": [
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0,
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0,
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0,
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null,
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47.3977432,
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8.545805,
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18
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],
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"type": "SimpleItem"
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},
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{
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"AMSLAltAboveTerrain": null,
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"Altitude": 0,
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"AltitudeMode": 1,
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"autoContinue": true,
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"command": 21,
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"doJumpId": 4,
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"frame": 3,
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"params": [
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0,
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0,
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0,
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null,
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47.3977432,
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8.545804,
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0
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],
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"type": "SimpleItem"
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}
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],
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"plannedHomePosition": [
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47.3977419,
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8.5455941,
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489
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],
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"vehicleType": 2,
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"version": 2
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},
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"rallyPoints": {
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"points": [
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],
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"version": 2
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},
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"version": 1
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}
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@@ -0,0 +1,51 @@
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<?xml version="1.0"?>
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<launch>
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<!-- Posix SITL MAVROS integration tests -->
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<!-- Test a mission -->
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<arg name="est" default="ekf2"/>
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<arg name="gui" default="false"/>
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<arg name="interactive" default="false"/>
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<arg name="mission" default="MC_safe_landing"/>
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<arg name="sdf" default="$(find avoidance)/sim/models/iris_downwards_camera/iris_downwards_camera.sdf"/>
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<arg name="vehicle" default="iris_obs_avoid"/>
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<arg name="world" default="$(find avoidance)/sim/worlds/boxes1.world"/>
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<!-- PX4 SITL and Gazebo -->
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<include file="$(find px4)/launch/posix_sitl.launch">
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<arg name="est" value="$(arg est)"/>
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<arg name="gui" value="$(arg gui)"/>
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<arg name="interactive" value="$(arg interactive)"/>
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<arg name="respawn_gazebo" value="true"/>
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<arg name="sdf" value="$(arg sdf)"/>
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<arg name="vehicle" value="$(arg vehicle)"/>
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<arg name="verbose" value="true"/>
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<arg name="world" value="$(arg world)"/>
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</include>
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<!-- MAVROS -->
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<include file="$(find mavros)/launch/node.launch">
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<arg name="pluginlists_yaml" value="$(find mavros)/launch/px4_pluginlists.yaml"/>
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<arg name="config_yaml" value="$(find mavros)/launch/px4_config.yaml"/>
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<arg name="gcs_url" value=""/>
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<arg name="fcu_url" value="udp://:14540@localhost:14557"/>
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<arg name="tgt_system" value="1"/>
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<arg name="tgt_component" value="1"/>
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<arg name="respawn_mavros" value="true"/>
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</include>
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<!-- Transformation Publishers -->
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<node pkg="tf" type="static_transform_publisher" name="tf_depth_camera"
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args="0 0 0 1.57 3.14 0 fcu camera_link 10"/>
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<!-- Suppress console outputs -->
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<env name="ROSCONSOLE_CONFIG_FILE" value="$(find local_planner)/resource/custom_rosconsole.conf"/>
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<!-- Launch Local Planner -->
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<arg name="pointcloud_topics" default="/camera/depth/points"/>
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<node name="safe_landing_planner_node" pkg="safe_landing_planner" type="safe_landing_planner_node" output="screen">
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<param name="pointcloud_topics" value="$(arg pointcloud_topics)" />
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</node>
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<node name="waypoint_generator_node" pkg="safe_landing_planner" type="waypoint_generator_node" output="screen" >
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</node>
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<node name="dynparam_slpn" pkg="dynamic_reconfigure" type="dynparam" args="load safe_landing_planner_node $(find safe_landing_planner)/cfg/slpn.yaml" />
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<node name="dynparam_wpgn" pkg="dynamic_reconfigure" type="dynparam" args="load waypoint_generator_node $(find safe_landing_planner)/cfg/wpgn.yaml" />
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<!-- ROStest -->
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<test test-name="$(arg mission)" pkg="px4" type="mission_test.py" time-limit="300.0" args="$(arg mission).plan"/>
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</launch>
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@@ -9,7 +9,7 @@ cd ${PX4_SRC_DIR}/catkin_ws/
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git clone -b 0.3.0 --single-branch --depth 1 https://github.com/PX4/avoidance.git src/avoidance
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git clone -b 0.3.0 --single-branch --depth 1 https://github.com/PX4/avoidance.git src/avoidance
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catkin init
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catkin init
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catkin build local_planner --cmake-args -DCMAKE_BUILD_TYPE=Release
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catkin build local_planner safe_landing_planner --cmake-args -DCMAKE_BUILD_TYPE=Release
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source ${PX4_SRC_DIR}/catkin_ws/devel/setup.bash
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source ${PX4_SRC_DIR}/catkin_ws/devel/setup.bash
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source /usr/share/gazebo/setup.sh
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source /usr/share/gazebo/setup.sh
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