No version for distro humble showing lunar. Known supported distros are highlighted in the buttons above.
Package symbol

test_mavros package from mavros repo

libmavconn mavros mavros_extras mavros_msgs test_mavros

ROS Distro
lunar

Package Summary

Tags No category tags.
Version 1.20.1
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 2025-07-11
Dev Status DEVELOPED
Released RELEASED
Tags uav mav mavlink plugin apm px4
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Tests for MAVROS package

Additional Links

Maintainers

  • Vladimir Ermakov

Authors

  • Nuno Marques
  • Vladimir Ermakov

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][px4-sitl-wiki].

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][apm-sitl-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

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package test_mavros

1.20.1 (2025-05-05)

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)

File truncated at 100 lines see the full file

Launch files

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

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged test_mavros at Robotics Stack Exchange

No version for distro jazzy showing lunar. Known supported distros are highlighted in the buttons above.
Package symbol

test_mavros package from mavros repo

libmavconn mavros mavros_extras mavros_msgs test_mavros

ROS Distro
lunar

Package Summary

Tags No category tags.
Version 1.20.1
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 2025-07-11
Dev Status DEVELOPED
Released RELEASED
Tags uav mav mavlink plugin apm px4
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Tests for MAVROS package

Additional Links

Maintainers

  • Vladimir Ermakov

Authors

  • Nuno Marques
  • Vladimir Ermakov

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][px4-sitl-wiki].

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][apm-sitl-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

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package test_mavros

1.20.1 (2025-05-05)

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)

File truncated at 100 lines see the full file

Launch files

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

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged test_mavros at Robotics Stack Exchange

No version for distro kilted showing lunar. Known supported distros are highlighted in the buttons above.
Package symbol

test_mavros package from mavros repo

libmavconn mavros mavros_extras mavros_msgs test_mavros

ROS Distro
lunar

Package Summary

Tags No category tags.
Version 1.20.1
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 2025-07-11
Dev Status DEVELOPED
Released RELEASED
Tags uav mav mavlink plugin apm px4
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Tests for MAVROS package

Additional Links

Maintainers

  • Vladimir Ermakov

Authors

  • Nuno Marques
  • Vladimir Ermakov

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][px4-sitl-wiki].

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][apm-sitl-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

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package test_mavros

1.20.1 (2025-05-05)

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)

File truncated at 100 lines see the full file

Launch files

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

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged test_mavros at Robotics Stack Exchange

No version for distro rolling showing lunar. Known supported distros are highlighted in the buttons above.
Package symbol

test_mavros package from mavros repo

libmavconn mavros mavros_extras mavros_msgs test_mavros

ROS Distro
lunar

Package Summary

Tags No category tags.
Version 1.20.1
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 2025-07-11
Dev Status DEVELOPED
Released RELEASED
Tags uav mav mavlink plugin apm px4
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Tests for MAVROS package

Additional Links

Maintainers

  • Vladimir Ermakov

Authors

  • Nuno Marques
  • Vladimir Ermakov

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][px4-sitl-wiki].

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][apm-sitl-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

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package test_mavros

1.20.1 (2025-05-05)

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)

File truncated at 100 lines see the full file

Launch files

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

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged test_mavros at Robotics Stack Exchange

No version for distro ardent showing lunar. Known supported distros are highlighted in the buttons above.
Package symbol

test_mavros package from mavros repo

libmavconn mavros mavros_extras mavros_msgs test_mavros

ROS Distro
lunar

Package Summary

Tags No category tags.
Version 1.20.1
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 2025-07-11
Dev Status DEVELOPED
Released RELEASED
Tags uav mav mavlink plugin apm px4
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Tests for MAVROS package

Additional Links

Maintainers

  • Vladimir Ermakov

Authors

  • Nuno Marques
  • Vladimir Ermakov

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][px4-sitl-wiki].

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][apm-sitl-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

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package test_mavros

1.20.1 (2025-05-05)

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)

File truncated at 100 lines see the full file

Launch files

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

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged test_mavros at Robotics Stack Exchange

No version for distro bouncy showing lunar. Known supported distros are highlighted in the buttons above.
Package symbol

test_mavros package from mavros repo

libmavconn mavros mavros_extras mavros_msgs test_mavros

ROS Distro
lunar

Package Summary

Tags No category tags.
Version 1.20.1
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 2025-07-11
Dev Status DEVELOPED
Released RELEASED
Tags uav mav mavlink plugin apm px4
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Tests for MAVROS package

Additional Links

Maintainers

  • Vladimir Ermakov

Authors

  • Nuno Marques
  • Vladimir Ermakov

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][px4-sitl-wiki].

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][apm-sitl-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

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package test_mavros

1.20.1 (2025-05-05)

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)

File truncated at 100 lines see the full file

Launch files

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

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged test_mavros at Robotics Stack Exchange

No version for distro crystal showing lunar. Known supported distros are highlighted in the buttons above.
Package symbol

test_mavros package from mavros repo

libmavconn mavros mavros_extras mavros_msgs test_mavros

ROS Distro
lunar

Package Summary

Tags No category tags.
Version 1.20.1
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 2025-07-11
Dev Status DEVELOPED
Released RELEASED
Tags uav mav mavlink plugin apm px4
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Tests for MAVROS package

Additional Links

Maintainers

  • Vladimir Ermakov

Authors

  • Nuno Marques
  • Vladimir Ermakov

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][px4-sitl-wiki].

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][apm-sitl-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

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package test_mavros

1.20.1 (2025-05-05)

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)

File truncated at 100 lines see the full file

Launch files

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

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged test_mavros at Robotics Stack Exchange

No version for distro eloquent showing lunar. Known supported distros are highlighted in the buttons above.
Package symbol

test_mavros package from mavros repo

libmavconn mavros mavros_extras mavros_msgs test_mavros

ROS Distro
lunar

Package Summary

Tags No category tags.
Version 1.20.1
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 2025-07-11
Dev Status DEVELOPED
Released RELEASED
Tags uav mav mavlink plugin apm px4
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Tests for MAVROS package

Additional Links

Maintainers

  • Vladimir Ermakov

Authors

  • Nuno Marques
  • Vladimir Ermakov

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][px4-sitl-wiki].

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][apm-sitl-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

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package test_mavros

1.20.1 (2025-05-05)

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)

File truncated at 100 lines see the full file

Launch files

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

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged test_mavros at Robotics Stack Exchange

No version for distro dashing showing lunar. Known supported distros are highlighted in the buttons above.
Package symbol

test_mavros package from mavros repo

libmavconn mavros mavros_extras mavros_msgs test_mavros

ROS Distro
lunar

Package Summary

Tags No category tags.
Version 1.20.1
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 2025-07-11
Dev Status DEVELOPED
Released RELEASED
Tags uav mav mavlink plugin apm px4
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Tests for MAVROS package

Additional Links

Maintainers

  • Vladimir Ermakov

Authors

  • Nuno Marques
  • Vladimir Ermakov

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][px4-sitl-wiki].

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][apm-sitl-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

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package test_mavros

1.20.1 (2025-05-05)

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)

File truncated at 100 lines see the full file

Launch files

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

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged test_mavros at Robotics Stack Exchange

No version for distro galactic showing lunar. Known supported distros are highlighted in the buttons above.
Package symbol

test_mavros package from mavros repo

libmavconn mavros mavros_extras mavros_msgs test_mavros

ROS Distro
lunar

Package Summary

Tags No category tags.
Version 1.20.1
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 2025-07-11
Dev Status DEVELOPED
Released RELEASED
Tags uav mav mavlink plugin apm px4
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Tests for MAVROS package

Additional Links

Maintainers

  • Vladimir Ermakov

Authors

  • Nuno Marques
  • Vladimir Ermakov

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][px4-sitl-wiki].

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][apm-sitl-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

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package test_mavros

1.20.1 (2025-05-05)

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)

File truncated at 100 lines see the full file

Launch files

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

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged test_mavros at Robotics Stack Exchange

No version for distro foxy showing lunar. Known supported distros are highlighted in the buttons above.
Package symbol

test_mavros package from mavros repo

libmavconn mavros mavros_extras mavros_msgs test_mavros

ROS Distro
lunar

Package Summary

Tags No category tags.
Version 1.20.1
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 2025-07-11
Dev Status DEVELOPED
Released RELEASED
Tags uav mav mavlink plugin apm px4
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Tests for MAVROS package

Additional Links

Maintainers

  • Vladimir Ermakov

Authors

  • Nuno Marques
  • Vladimir Ermakov

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][px4-sitl-wiki].

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][apm-sitl-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

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package test_mavros

1.20.1 (2025-05-05)

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)

File truncated at 100 lines see the full file

Launch files

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

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged test_mavros at Robotics Stack Exchange

No version for distro iron showing lunar. Known supported distros are highlighted in the buttons above.
Package symbol

test_mavros package from mavros repo

libmavconn mavros mavros_extras mavros_msgs test_mavros

ROS Distro
lunar

Package Summary

Tags No category tags.
Version 1.20.1
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 2025-07-11
Dev Status DEVELOPED
Released RELEASED
Tags uav mav mavlink plugin apm px4
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Tests for MAVROS package

Additional Links

Maintainers

  • Vladimir Ermakov

Authors

  • Nuno Marques
  • Vladimir Ermakov

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][px4-sitl-wiki].

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][apm-sitl-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

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package test_mavros

1.20.1 (2025-05-05)

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)

File truncated at 100 lines see the full file

Launch files

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

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged test_mavros at Robotics Stack Exchange

Package symbol

test_mavros package from mavros repo

libmavconn mavros mavros_extras mavros_msgs test_mavros

ROS Distro
lunar

Package Summary

Tags No category tags.
Version 1.20.1
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 2025-07-11
Dev Status DEVELOPED
Released RELEASED
Tags uav mav mavlink plugin apm px4
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Tests for MAVROS package

Additional Links

Maintainers

  • Vladimir Ermakov

Authors

  • Nuno Marques
  • Vladimir Ermakov

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][px4-sitl-wiki].

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][apm-sitl-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

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package test_mavros

1.20.1 (2025-05-05)

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)

File truncated at 100 lines see the full file

Launch files

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

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged test_mavros at Robotics Stack Exchange

Package symbol

test_mavros package from mavros repo

libmavconn mavros mavros_extras mavros_msgs test_mavros

ROS Distro
jade

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
Released RELEASED
Tags uav mav mavlink plugin apm px4
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Tests for MAVROS package

Additional Links

Maintainers

  • Vladimir Ermakov

Authors

  • Nuno Marques
  • Vladimir Ermakov

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][px4-sitl-wiki].

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][apm-sitl-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

File truncated at 100 lines see the full file

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

File truncated at 100 lines see the full file

Launch files

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

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged test_mavros at Robotics Stack Exchange

Package symbol

test_mavros package from mavros repo

libmavconn mavros mavros_extras mavros_msgs test_mavros

ROS Distro
indigo

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
Released RELEASED
Tags uav mav mavlink plugin apm px4
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Tests for MAVROS package

Additional Links

Maintainers

  • Vladimir Ermakov

Authors

  • Nuno Marques
  • Vladimir Ermakov

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][px4-sitl-wiki].

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][apm-sitl-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

File truncated at 100 lines see the full file

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

File truncated at 100 lines see the full file

Launch files

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

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged test_mavros at Robotics Stack Exchange

No version for distro hydro showing lunar. Known supported distros are highlighted in the buttons above.
Package symbol

test_mavros package from mavros repo

libmavconn mavros mavros_extras mavros_msgs test_mavros

ROS Distro
lunar

Package Summary

Tags No category tags.
Version 1.20.1
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 2025-07-11
Dev Status DEVELOPED
Released RELEASED
Tags uav mav mavlink plugin apm px4
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Tests for MAVROS package

Additional Links

Maintainers

  • Vladimir Ermakov

Authors

  • Nuno Marques
  • Vladimir Ermakov

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][px4-sitl-wiki].

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][apm-sitl-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

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package test_mavros

1.20.1 (2025-05-05)

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)

File truncated at 100 lines see the full file

Launch files

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

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged test_mavros at Robotics Stack Exchange

Package symbol

test_mavros package from mavros repo

libmavconn mavros mavros_extras mavros_msgs test_mavros

ROS Distro
kinetic

Package Summary

Tags No category tags.
Version 1.20.1
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 2025-07-11
Dev Status DEVELOPED
Released RELEASED
Tags uav mav mavlink plugin apm px4
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Tests for MAVROS package

Additional Links

Maintainers

  • Vladimir Ermakov

Authors

  • Nuno Marques
  • Vladimir Ermakov

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][px4-sitl-wiki].

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][apm-sitl-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

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package test_mavros

1.20.1 (2025-05-05)

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)

File truncated at 100 lines see the full file

Launch files

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

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged test_mavros at Robotics Stack Exchange

Package symbol

test_mavros package from mavros repo

libmavconn mavros mavros_extras mavros_msgs test_mavros

ROS Distro
melodic

Package Summary

Tags No category tags.
Version 1.20.1
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 2025-07-11
Dev Status DEVELOPED
Released RELEASED
Tags uav mav mavlink plugin apm px4
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Tests for MAVROS package

Additional Links

Maintainers

  • Vladimir Ermakov

Authors

  • Nuno Marques
  • Vladimir Ermakov

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][px4-sitl-wiki].

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][apm-sitl-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

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package test_mavros

1.20.1 (2025-05-05)

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)

File truncated at 100 lines see the full file

Launch files

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

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged test_mavros at Robotics Stack Exchange

Package symbol

test_mavros package from mavros repo

libmavconn mavros mavros_extras mavros_msgs test_mavros

ROS Distro
noetic

Package Summary

Tags No category tags.
Version 1.20.1
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 2025-07-11
Dev Status DEVELOPED
Released RELEASED
Tags uav mav mavlink plugin apm px4
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Tests for MAVROS package

Additional Links

Maintainers

  • Vladimir Ermakov

Authors

  • Nuno Marques
  • Vladimir Ermakov

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][px4-sitl-wiki].

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][apm-sitl-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

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package test_mavros

1.20.1 (2025-05-05)

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)

File truncated at 100 lines see the full file

Launch files

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

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged test_mavros at Robotics Stack Exchange