forked from ArduPilot/ardupilot
-
Notifications
You must be signed in to change notification settings - Fork 0
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
- Loading branch information
1 parent
b36f539
commit 87e3191
Showing
5 changed files
with
229 additions
and
0 deletions.
There are no files selected for viewing
153 changes: 153 additions & 0 deletions
153
Tools/ros2/ardupilot_dds_tests/test/ardupilot_dds_tests/test_goal_lla_msg_received.py
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,153 @@ | ||
| # Copyright 2023 ArduPilot.org. | ||
| # | ||
| # This program is free software: you can redistribute it and/or modify | ||
| # it under the terms of the GNU General Public License as published by | ||
| # the Free Software Foundation, either version 3 of the License, or | ||
| # (at your option) any later version. | ||
| # | ||
| # This program is distributed in the hope that it will be useful, | ||
| # but WITHOUT ANY WARRANTY; without even the implied warranty of | ||
| # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | ||
| # GNU General Public License for more details. | ||
| # | ||
| # You should have received a copy of the GNU General Public License | ||
| # along with this program. If not, see <https://www.gnu.org/licenses/>. | ||
|
|
||
| """ | ||
| Bring up ArduPilot SITL and check the Goal GeoPointStamped message is being published. | ||
| colcon test --packages-select ardupilot_dds_tests \ | ||
| --event-handlers=console_cohesion+ --pytest-args -k test_goal_lla_msg_received | ||
| """ | ||
|
|
||
| import launch_pytest | ||
| import math | ||
| import pytest | ||
| import rclpy | ||
| import rclpy.node | ||
| from scipy.spatial.transform import Rotation as R | ||
| import threading | ||
|
|
||
| from launch import LaunchDescription | ||
|
|
||
| from launch_pytest.tools import process as process_tools | ||
|
|
||
| from rclpy.qos import QoSProfile | ||
| from rclpy.qos import QoSReliabilityPolicy | ||
| from rclpy.qos import QoSHistoryPolicy | ||
|
|
||
| from geographic_msgs.msg import GeoPointStamped | ||
|
|
||
| TOPIC = "ap/goal_lla" | ||
|
|
||
|
|
||
| class GeoPointListener(rclpy.node.Node): | ||
| """Subscribe to GeoPointStamped messages.""" | ||
|
|
||
| def __init__(self): | ||
| """Initialise the node.""" | ||
| super().__init__("geopoint_listener") | ||
| self.msg_event_object = threading.Event() | ||
|
|
||
| # Declare and acquire `topic` parameter | ||
| self.declare_parameter("topic", TOPIC) | ||
| self.topic = self.get_parameter("topic").get_parameter_value().string_value | ||
|
|
||
| def start_subscriber(self): | ||
| """Start the subscriber.""" | ||
| qos_profile = QoSProfile( | ||
| reliability=QoSReliabilityPolicy.BEST_EFFORT, | ||
| history=QoSHistoryPolicy.KEEP_LAST, | ||
| depth=1, | ||
| ) | ||
|
|
||
| self.subscription = self.create_subscription(GeoPointStamped, self.topic, self.subscriber_callback, qos_profile) | ||
|
|
||
| # Add a spin thread. | ||
| self.ros_spin_thread = threading.Thread(target=lambda node: rclpy.spin(node), args=(self,)) | ||
| self.ros_spin_thread.start() | ||
|
|
||
| def subscriber_callback(self, msg): | ||
| """Process a GeoPointStamped message.""" | ||
| self.msg_event_object.set() | ||
|
|
||
|
|
||
| @launch_pytest.fixture | ||
| def launch_sitl_copter_dds_serial(sitl_copter_dds_serial): | ||
| """Fixture to create the launch description.""" | ||
| sitl_ld, sitl_actions = sitl_copter_dds_serial | ||
|
|
||
| ld = LaunchDescription( | ||
| [ | ||
| sitl_ld, | ||
| launch_pytest.actions.ReadyToTest(), | ||
| ] | ||
| ) | ||
| actions = sitl_actions | ||
| yield ld, actions | ||
|
|
||
|
|
||
| @launch_pytest.fixture | ||
| def launch_sitl_copter_dds_udp(sitl_copter_dds_udp): | ||
| """Fixture to create the launch description.""" | ||
| sitl_ld, sitl_actions = sitl_copter_dds_udp | ||
|
|
||
| ld = LaunchDescription( | ||
| [ | ||
| sitl_ld, | ||
| launch_pytest.actions.ReadyToTest(), | ||
| ] | ||
| ) | ||
| actions = sitl_actions | ||
| yield ld, actions | ||
|
|
||
|
|
||
| @pytest.mark.launch(fixture=launch_sitl_copter_dds_serial) | ||
| def test_dds_serial_geopose_msg_recv(launch_context, launch_sitl_copter_dds_serial): | ||
| """Test position messages are published by AP_DDS.""" | ||
| _, actions = launch_sitl_copter_dds_serial | ||
| virtual_ports = actions["virtual_ports"].action | ||
| micro_ros_agent = actions["micro_ros_agent"].action | ||
| mavproxy = actions["mavproxy"].action | ||
| sitl = actions["sitl"].action | ||
|
|
||
| # Wait for process to start. | ||
| process_tools.wait_for_start_sync(launch_context, virtual_ports, timeout=2) | ||
| process_tools.wait_for_start_sync(launch_context, micro_ros_agent, timeout=2) | ||
| process_tools.wait_for_start_sync(launch_context, mavproxy, timeout=2) | ||
| process_tools.wait_for_start_sync(launch_context, sitl, timeout=2) | ||
|
|
||
| rclpy.init() | ||
| try: | ||
| node = GeoPointListener() | ||
| node.start_subscriber() | ||
| msgs_received_flag = node.msg_event_object.wait(timeout=10.0) | ||
| assert msgs_received_flag, f"Did not receive '{TOPIC}' msgs." | ||
| finally: | ||
| rclpy.shutdown() | ||
| yield | ||
|
|
||
|
|
||
| @pytest.mark.launch(fixture=launch_sitl_copter_dds_udp) | ||
| def test_dds_udp_geopose_msg_recv(launch_context, launch_sitl_copter_dds_udp): | ||
| """Test position messages are published by AP_DDS.""" | ||
| _, actions = launch_sitl_copter_dds_udp | ||
| micro_ros_agent = actions["micro_ros_agent"].action | ||
| mavproxy = actions["mavproxy"].action | ||
| sitl = actions["sitl"].action | ||
|
|
||
| # Wait for process to start. | ||
| process_tools.wait_for_start_sync(launch_context, micro_ros_agent, timeout=2) | ||
| process_tools.wait_for_start_sync(launch_context, mavproxy, timeout=2) | ||
| process_tools.wait_for_start_sync(launch_context, sitl, timeout=2) | ||
|
|
||
| rclpy.init() | ||
| try: | ||
| node = GeoPointListener() | ||
| node.start_subscriber() | ||
| msgs_received_flag = node.msg_event_object.wait(timeout=10.0) | ||
| assert msgs_received_flag, f"Did not receive '{TOPIC}' msgs." | ||
| finally: | ||
| rclpy.shutdown() | ||
| yield |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters