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Tomas BacaTomas Baca
Tomas Baca
authored and
Tomas Baca
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+ modalities tests
1 parent 9f296f6 commit a93ea48

16 files changed

+497
-1
lines changed

‎test/CMakeLists.txt‎

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endfunction()
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add_subdirectory(./failsafe_controller)
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add_subdirectory(./modalities)

‎test/modalities/CMakeLists.txt‎

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get_filename_component(TEST_NAME "${CMAKE_CURRENT_SOURCE_DIR}" NAME)
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set(CONTROLLERS
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se3
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mpc
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)
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set(MODALITIES
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actuators
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control_group
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attitude_rate
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attitude
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acceleration_hdg_rate
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acceleration_hdg
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velocity_hdg_rate
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velocity_hdg
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position
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)
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add_executable(test_${TEST_NAME}
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test.cpp
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)
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ament_target_dependencies(test_${TEST_NAME}
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rclcpp
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mrs_lib
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mrs_msgs
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mrs_uav_testing
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backward_ros
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)
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install(TARGETS
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test_${TEST_NAME}
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DESTINATION lib/${PROJECT_NAME}
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)
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foreach(CONTROLLER ${CONTROLLERS})
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foreach(MODALITY ${MODALITIES})
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add_ros_isolated_launch_test(test.py
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TARGET "${TEST_NAME}_${CONTROLLER}_${MODALITY}"
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ARGS "controller:=${CONTROLLER}" "modality:=${MODALITY}"
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)
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endforeach()
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endforeach()

‎test/modalities/config/custom_config_mpc_controller.yaml‎

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# GET ALL PARAMETERS USABLE FOR CUSTOM CONFIG BY RUNNING:
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## --------------------------------------------------------------
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## | rosrun mrs_uav_core get_public_params.py #
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## --------------------------------------------------------------
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mrs_uav_managers:
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estimation_manager:
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# loaded state estimator plugins
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state_estimators: [
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"gps_garmin",
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]
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initial_state_estimator: "gps_garmin" # will be used as the first state estimator
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agl_height_estimator: "garmin_agl" # only slightly filtered height for checking min height (not used in control feedback)
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uav_manager:
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midair_activation:
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after_activation:
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controller: "MpcController"
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tracker: "MpcTracker"

‎test/modalities/config/custom_config_se3_controller.yaml‎

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# GET ALL PARAMETERS USABLE FOR CUSTOM CONFIG BY RUNNING:
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## --------------------------------------------------------------
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## | rosrun mrs_uav_core get_public_params.py #
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## --------------------------------------------------------------
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mrs_uav_managers:
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estimation_manager:
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# loaded state estimator plugins
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state_estimators: [
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"gps_garmin",
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]
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initial_state_estimator: "gps_garmin" # will be used as the first state estimator
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agl_height_estimator: "garmin_agl" # only slightly filtered height for checking min height (not used in control feedback)
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uav_manager:
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midair_activation:
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after_activation:
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controller: "Se3Controller"
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tracker: "MpcTracker"

‎test/modalities/config/hw_api/hw_api_acceleration_hdg.yaml‎

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plugin:
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input_mode:
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actuators: false
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control_group: false
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attitude_rate: false
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attitude: false
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acceleration_hdg_rate: false
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acceleration_hdg: true
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velocity_hdg_rate: false
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velocity_hdg: false
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position: false

‎test/modalities/config/hw_api/hw_api_acceleration_hdg_rate.yaml‎

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plugin:
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input_mode:
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actuators: false
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control_group: false
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attitude_rate: false
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attitude: false
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acceleration_hdg_rate: true
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acceleration_hdg: false
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velocity_hdg_rate: false
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velocity_hdg: false
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position: false

‎test/modalities/config/hw_api/hw_api_actuators.yaml‎

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plugin:
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input_mode:
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actuators: true
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control_group: false
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attitude_rate: false
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attitude: false
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acceleration_hdg_rate: false
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acceleration_hdg: false
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velocity_hdg_rate: false
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velocity_hdg: false
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position: false

‎test/modalities/config/hw_api/hw_api_attitude.yaml‎

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plugin:
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input_mode:
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actuators: false
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control_group: false
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attitude_rate: false
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attitude: true
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acceleration_hdg_rate: false
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acceleration_hdg: false
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velocity_hdg_rate: false
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velocity_hdg: false
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position: false

‎test/modalities/config/hw_api/hw_api_attitude_rate.yaml‎

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plugin:
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input_mode:
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actuators: false
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control_group: false
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attitude_rate: true
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attitude: false
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acceleration_hdg_rate: false
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acceleration_hdg: false
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velocity_hdg_rate: false
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velocity_hdg: false
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position: false

‎test/modalities/config/hw_api/hw_api_control_group.yaml‎

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plugin:
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input_mode:
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actuators: false
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control_group: true
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attitude_rate: false
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attitude: false
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acceleration_hdg_rate: false
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acceleration_hdg: false
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velocity_hdg_rate: false
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velocity_hdg: false
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position: false

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