Package Summary

Tags uav mav mavlink plugin apm px4
Version 0.18.2
License BSD
Buildtool CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/mavlink/mavros.git
VCS Type git
VCS Version master
Last Updated 2016-07-03
Dev Status DEVELOPED
Released RELEASED

Package Description

Tests for MAVROS package

Additional Links

Maintainers

  • Vladimir Ermakov

Authors

  • Nuno Marques
  • Vladimir Ermakov
README

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)

APM SITL imu test video

Screen capture for URDF model test

APM SITL urdf test video

CHANGELOG

Changelog for package test_mavros

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 group; change tgt_component 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

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • 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]
  • 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/schematic_plane_rviz.launch
  • launch/apm/apm_local_position_test.launch
  • launch/apm/apm_imu_test.launch

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Package Summary

Tags uav mav mavlink plugin apm px4
Version 0.18.2
License BSD
Buildtool CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/mavlink/mavros.git
VCS Type git
VCS Version master
Last Updated 2016-07-03
Dev Status DEVELOPED
Released RELEASED

Package Description

Tests for MAVROS package

Additional Links

Maintainers

  • Vladimir Ermakov

Authors

  • Nuno Marques
  • Vladimir Ermakov
README

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)

APM SITL imu test video

Screen capture for URDF model test

APM SITL urdf test video

CHANGELOG

Changelog for package test_mavros

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 group; change tgt_component 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

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • 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]
  • 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/schematic_plane_rviz.launch
  • launch/apm/apm_local_position_test.launch
  • launch/apm/apm_imu_test.launch

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Package Summary

Tags uav mav mavlink plugin apm px4
Version 0.18.2
License BSD
Buildtool CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/mavlink/mavros.git
VCS Type git
VCS Version master
Last Updated 2016-07-03
Dev Status DEVELOPED
Released RELEASED

Package Description

Tests for MAVROS package

Additional Links

Maintainers

  • Vladimir Ermakov

Authors

  • Nuno Marques
  • Vladimir Ermakov
README

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)

APM SITL imu test video

Screen capture for URDF model test

APM SITL urdf test video

CHANGELOG

Changelog for package test_mavros

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 group; change tgt_component 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

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • 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]
  • 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/schematic_plane_rviz.launch
  • launch/apm/apm_local_position_test.launch
  • launch/apm/apm_imu_test.launch

Messages

No message files found.

Services

No service files found

Plugins

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