No 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 repo

libmavconn 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	Latest build history: Tue, 14 Nov 2023 17:34:53 GMT (last 4 of 48 builds) #100 14-Nov-2023 17:06 40 / 40 #99 16-Oct-2023 13:06 40 / 40 #98 09-Sep-2023 11:07 32 / 33 #96 06-Sep-2023 12:06 40 / 40
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

test_mavros/README.md

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/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/apm/apm_local_position_test.launch
launch/apm/apm_imu_test.launch
launch/apm/schematic_plane_rviz.launch

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `test_mavros` at Robotics Stack Exchange

API Docs Browse Code Wiki

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 repo

libmavconn mavros mavros_extras mavros_msgs test_mavros

API Docs
Browse Code
Wiki

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

test_mavros/README.md

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/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/apm/apm_local_position_test.launch
launch/apm/apm_imu_test.launch
launch/apm/schematic_plane_rviz.launch

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `test_mavros` at Robotics Stack Exchange

API Docs Browse Code Wiki

test_mavros package from mavros repo

libmavconn mavros mavros_extras mavros_msgs test_mavros

API Docs
Browse Code
Wiki

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

test_mavros/README.md

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/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/apm/apm_local_position_test.launch
launch/apm/apm_imu_test.launch
launch/apm/schematic_plane_rviz.launch

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `test_mavros` at Robotics Stack Exchange

API Docs Browse Code Wiki

test_mavros package from mavros repo

libmavconn mavros mavros_extras mavros_msgs test_mavros

API Docs
Browse Code
Wiki

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

test_mavros/README.md

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/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/apm/apm_local_position_test.launch
launch/apm/apm_imu_test.launch
launch/apm/schematic_plane_rviz.launch

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `test_mavros` at Robotics Stack Exchange

API Docs Browse Code Wiki

No version for distro hydro. Known supported distros are highlighted in the buttons above.

test_mavros package from mavros repo

libmavconn mavros mavros_extras mavros_msgs test_mavros

API Docs
Browse Code
Wiki

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

test_mavros/README.md

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/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/apm/apm_local_position_test.launch
launch/apm/apm_imu_test.launch
launch/apm/schematic_plane_rviz.launch

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `test_mavros` at Robotics Stack Exchange

API Docs Browse Code Wiki

test_mavros package from mavros repo

libmavconn mavros mavros_extras mavros_msgs test_mavros

API Docs
Browse Code
Wiki

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	Latest build history: Mon, 12 Jun 2023 13:40:12 GMT (last 5 of 58 builds) #146 12-Jun-2023 13:08 40 / 40 #145 05-May-2023 17:08 40 / 40 #144 16-Feb-2023 16:08 40 / 40 #143 03-Jan-2023 18:08 40 / 40 #142 30-Dec-2022 15:08 40 / 40
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

test_mavros/README.md

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/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/apm/apm_local_position_test.launch
launch/apm/apm_imu_test.launch
launch/apm/schematic_plane_rviz.launch

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `test_mavros` at Robotics Stack Exchange

API Docs Browse Code Wiki