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17 changes: 2 additions & 15 deletions
17
ros_packages/mrs_uav_gazebo_simulation/test/takeoff/CMakeLists.txt
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@@ -1,16 +1,3 @@ | ||
get_filename_component(TEST_NAME "${CMAKE_CURRENT_SOURCE_DIR}" NAME) | ||
add_subdirectory(takeoff_gps_garmin) | ||
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catkin_add_executable_with_gtest(test_${TEST_NAME} | ||
test.cpp | ||
) | ||
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target_link_libraries(test_${TEST_NAME} | ||
${catkin_LIBRARIES} | ||
) | ||
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add_dependencies(test_${TEST_NAME} | ||
${${PROJECT_NAME}_EXPORTED_TARGETS} | ||
${catkin_EXPORTED_TARGETS} | ||
) | ||
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add_rostest(${TEST_NAME}.test) | ||
add_subdirectory(takeoff_gps_baro) |
16 changes: 16 additions & 0 deletions
16
ros_packages/mrs_uav_gazebo_simulation/test/takeoff/takeoff_gps_baro/CMakeLists.txt
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get_filename_component(TEST_NAME "${CMAKE_CURRENT_SOURCE_DIR}" NAME) | ||
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catkin_add_executable_with_gtest(test_${TEST_NAME} | ||
test.cpp | ||
) | ||
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target_link_libraries(test_${TEST_NAME} | ||
${catkin_LIBRARIES} | ||
) | ||
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add_dependencies(test_${TEST_NAME} | ||
${${PROJECT_NAME}_EXPORTED_TARGETS} | ||
${catkin_EXPORTED_TARGETS} | ||
) | ||
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add_rostest(${TEST_NAME}.test) |
16 changes: 16 additions & 0 deletions
16
...ackages/mrs_uav_gazebo_simulation/test/takeoff/takeoff_gps_baro/config/custom_config.yaml
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# GET ALL PARAMETERS USABLE FOR CUSTOM CONFIG BY RUNNING: | ||
## -------------------------------------------------------------- | ||
## | rosrun mrs_uav_core get_public_params.py # | ||
## -------------------------------------------------------------- | ||
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mrs_uav_managers: | ||
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estimation_manager: | ||
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# loaded state estimator plugins | ||
state_estimators: [ | ||
"gps_baro", | ||
] | ||
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initial_state_estimator: "gps_baro" # will be used as the first state estimator | ||
agl_height_estimator: "" # only slightly filtered height for checking min height (not used in control feedback) |
36 changes: 36 additions & 0 deletions
36
ros_packages/mrs_uav_gazebo_simulation/test/takeoff/takeoff_gps_baro/takeoff_gps_baro.test
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<launch> | ||
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<arg name="this_path" default="$(dirname)" /> | ||
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<arg name="UAV_NAME" default="uav1" /> | ||
<arg name="UAV_TYPE" default="x500" /> | ||
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<!-- automatically deduce the test name --> | ||
<arg name="test_name" default="$(eval arg('this_path').split('/')[-1])" /> | ||
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<!-- automatically deduce the package name --> | ||
<arg name="import_eval" default="eval('_' + '_import_' + '_')"/> | ||
<arg name="package_eval" default="eval(arg('import_eval') + '(\'rospkg\')').get_package_name(arg('this_path'))" /> | ||
<arg name="package" default="$(eval eval(arg('package_eval')))" /> | ||
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<include file="$(find mrs_uav_testing)/launch/gazebo_simulator.launch" /> | ||
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<include file="$(find mrs_uav_px4_api)/launch/api.launch"> | ||
<arg name="UAV_NAME" default="$(arg UAV_NAME)" /> | ||
<arg name="RUN_TYPE" default="simulation" /> | ||
</include> | ||
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<include file="$(find mrs_uav_testing)/launch/mrs_uav_system.launch"> | ||
<arg name="automatic_start" default="true" /> | ||
<arg name="platform_config" default="$(find mrs_uav_gazebo_simulation)/config/mrs_uav_system/$(arg UAV_TYPE).yaml" /> | ||
<arg name="custom_config" default="$(dirname)/config/custom_config.yaml" /> | ||
<arg name="UAV_NAME" default="$(arg UAV_NAME)" /> | ||
</include> | ||
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<test pkg="$(arg package)" type="test_$(arg test_name)" test-name="$(arg test_name)" time-limit="120.0"> | ||
<param name="test_name" value="$(arg test_name)" /> | ||
<param name="uav_name" value="$(arg UAV_NAME)" /> | ||
<param name="gazebo_spawner_params" value="1 --$(arg UAV_TYPE)" /> | ||
</test> | ||
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</launch> |
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16 changes: 16 additions & 0 deletions
16
ros_packages/mrs_uav_gazebo_simulation/test/takeoff/takeoff_gps_garmin/CMakeLists.txt
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get_filename_component(TEST_NAME "${CMAKE_CURRENT_SOURCE_DIR}" NAME) | ||
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catkin_add_executable_with_gtest(test_${TEST_NAME} | ||
test.cpp | ||
) | ||
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target_link_libraries(test_${TEST_NAME} | ||
${catkin_LIBRARIES} | ||
) | ||
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add_dependencies(test_${TEST_NAME} | ||
${${PROJECT_NAME}_EXPORTED_TARGETS} | ||
${catkin_EXPORTED_TARGETS} | ||
) | ||
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add_rostest(${TEST_NAME}.test) |
16 changes: 16 additions & 0 deletions
16
...kages/mrs_uav_gazebo_simulation/test/takeoff/takeoff_gps_garmin/config/custom_config.yaml
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@@ -0,0 +1,16 @@ | ||
# GET ALL PARAMETERS USABLE FOR CUSTOM CONFIG BY RUNNING: | ||
## -------------------------------------------------------------- | ||
## | rosrun mrs_uav_core get_public_params.py # | ||
## -------------------------------------------------------------- | ||
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mrs_uav_managers: | ||
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estimation_manager: | ||
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# loaded state estimator plugins | ||
state_estimators: [ | ||
"gps_garmin", | ||
] | ||
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initial_state_estimator: "gps_garmin" # will be used as the first state estimator | ||
agl_height_estimator: "garmin_agl" # only slightly filtered height for checking min height (not used in control feedback) |
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62 changes: 62 additions & 0 deletions
62
ros_packages/mrs_uav_gazebo_simulation/test/takeoff/takeoff_gps_garmin/test.cpp
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#include <gtest/gtest.h> | ||
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#include <mrs_uav_testing/test_generic.h> | ||
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class Tester : public mrs_uav_testing::TestGeneric { | ||
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public: | ||
bool test(); | ||
}; | ||
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bool Tester::test() { | ||
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{ | ||
auto [success, message] = spawnGazeboUav(); | ||
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if (!success) { | ||
ROS_ERROR("[%s]: gazebo UAV spawning failed with message: '%s'", ros::this_node::getName().c_str(), message.c_str()); | ||
return false; | ||
} | ||
} | ||
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{ | ||
auto [success, message] = takeoff(); | ||
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if (!success) { | ||
ROS_ERROR("[%s]: takeoff failed with message: '%s'", ros::this_node::getName().c_str(), message.c_str()); | ||
return false; | ||
} | ||
} | ||
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this->sleep(5.0); | ||
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if (this->isFlyingNormally()) { | ||
return true; | ||
} else { | ||
ROS_ERROR("[%s]: not flying normally", ros::this_node::getName().c_str()); | ||
return false; | ||
} | ||
} | ||
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TEST(TESTSuite, test) { | ||
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Tester tester; | ||
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bool result = tester.test(); | ||
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if (result) { | ||
GTEST_SUCCEED(); | ||
} else { | ||
GTEST_FAIL(); | ||
} | ||
} | ||
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int main([[maybe_unused]] int argc, [[maybe_unused]] char** argv) { | ||
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ros::init(argc, argv, "test"); | ||
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testing::InitGoogleTest(&argc, argv); | ||
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return RUN_ALL_TESTS(); | ||
} |