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

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

test_mavros package from mavros repo

libmavconn mavros mavros_extras mavros_msgs test_mavros

Package Summary

Tags	uav mav mavlink plugin apm px4
Version	0.30.0
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/mavlink/mavros.git
VCS Type	git
VCS Version	master
Last Updated	2019-05-22
Dev Status	DEVELOPED
Released	RELEASED

Package Description

Tests for MAVROS package

Additional Links

Maintainers

Vladimir Ermakov

Authors

Nuno Marques
Vladimir Ermakov

test_mavros/README.md

MAVROS test package

This package consists hand-tests with FCU SITL environment. I hope later we will do automatic tests too.

PX4 ROS SITL

Follow the instructions presented on PX4 ROS SITL Setup.

To test the simulation environment all you have to do is launch the proper ROS launch file. Right now, the current available one is iris_empty_world_offboard_ctl.launch, which allows to test the offboard control routines of the Firmware, together with the MAVROS API.

Available tests

Offboard position and velocity control

Note: acceleration control still not supported on PX4 Firmware side.

Tested in launch files

iris_empty_world_offboard_ctl.launch

Description

Allows testing the offboard control routines of the PX4 firmware by issuing setpoint commands through MAVROS plugins. Current test implements code to send:

position setpoints
velocity setpoints

The tests are implemented by issuing some kind of shaped path. Current shapes are:

square/rectangle
circle
eight
ellipse (3D)

How to use

To test the different behaviors, edit iris_empty_world_offboard_ctl.launch. At the bottom of this file, you will find:

    <!-- SITL test base node launcher -->
    <arg name="mode" default="position" />    <!-- position ctl mode -->
    <arg name="shape" default="square" />    <!-- square shaped path -->

Just change the default value of them and issue roslaunch test_mavros iris_empty_world_offboard_ctl.launch

Or, you can just issue the roslaunch passing the parameter values on the command line, p.e. roslaunch test_mavros iris_empty_world_offboard_ctl.launch mode:=position shape:=square.

TODO

Implement acceleration setpoint sending, when this is implemented on Firmware side
Give possibility to users to define the amplitude of movement
Implement a PID controller for velocity to avoid overshoots in the onboard controller

APM SITL

All what you need described in ardupilot wiki.

Preparation

# this is for zsh, but bash should be similar
function add-dir-to-path() {
    PATH+=":$1"
}

# get sources
cd ~/ros/src
wstool set imu_tools --git https://github.com/ccny-ros-pkg/imu_tools.git -v indigo
wstool update -j2
catkin build

cd ~/src/UAV
git clone https://github.com/diydrones/ardupilot.git
git checkout ArduPlane-3.3.0 -b ArduPlane-3.3.0
git clone https://github.com/tridge/jsbsim.git

# compile JSBSim
cd jsbsim
./autogen.sh --enable-libraries
make -j4

# also look ardupliot wiki

# add path to jsbsim binaries
add-dir-to-path $PWD/src

# path to sim_vehicle.sh
cd ../ardupilot/Tools/autotest
add-dir-to-path $PWD

# build APM and load default params
cd ../../ArduPlane
sim_vehicle.sh -w

How to use

# shell 1: in ArduPlane folder
sim_vehicle.sh --out udp:localhost:15550 --map

# shell 2: imu test
roslaunch test_mavros apm_imu_test.launch

# shell 2: URDF model + local_position
roslaunch test_mavros apm_local_position_test.launch

Screen capture for IMU test (youtube video)

Screen capture for URDF model test

CHANGELOG

Could not convert RST to MD: No such file or directory - pandoc

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

Deps		Name
	1	angles
	1	cmake_modules
	1	catkin
	2	roscpp
	2	std_msgs
	2	geometry_msgs
	2	tf2_ros
	1	mavros
	1	mavros_extras
	1	eigen_conversions
	1	control_toolbox

System Dependencies

Name
eigen

Dependant Packages

No known dependants.

Launch files

launch/px4/iris_empty_world_offboard_ctl.launch
- - headless [default: false]
  - gui [default: true]
  - enable_logging [default: false]
  - enable_ground_truth [default: true]
  - ns [default: iris]
  - log_file [default: $(arg ns)]
  - fcu_url [default: udp://localhost:14560@localhost:14565]
  - gcs_url [default: ]
  - tgt_system [default: 1]
  - tgt_component [default: 1]
  - num_of_tests [default: 1]
  - rate [default: 10.0]
  - use_pid [default: true]
  - mode [default: position]
  - shape [default: square]
  - linvel_p_gain [default: 0.4]
  - linvel_i_gain [default: 0.05]
  - linvel_d_gain [default: 0.12]
  - linvel_i_max [default: 0.1]
  - linvel_i_min [default: -0.1]
  - yawrate_p_gain [default: 0.011]
  - yawrate_i_gain [default: 0.00058]
  - yawrate_d_gain [default: 0.12]
  - yawrate_i_max [default: 0.005]
  - yawrate_i_min [default: -0.005]
launch/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/apm/schematic_plane_rviz.launch
launch/apm/apm_local_position_test.launch
launch/apm/apm_imu_test.launch

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `test_mavros` at answers.ros.org

API Docs Browse Code Wiki

test_mavros package from mavros repo

libmavconn mavros mavros_extras mavros_msgs test_mavros

API Docs
Browse Code
Wiki

Package Summary

Tags	uav mav mavlink plugin apm px4
Version	0.30.0
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/mavlink/mavros.git
VCS Type	git
VCS Version	master
Last Updated	2019-05-22
Dev Status	DEVELOPED
Released	RELEASED

Package Description

Tests for MAVROS package

Additional Links

Maintainers

Vladimir Ermakov

Authors

Nuno Marques
Vladimir Ermakov

test_mavros/README.md

MAVROS test package

This package consists hand-tests with FCU SITL environment. I hope later we will do automatic tests too.

PX4 ROS SITL

Follow the instructions presented on PX4 ROS SITL Setup.

To test the simulation environment all you have to do is launch the proper ROS launch file. Right now, the current available one is iris_empty_world_offboard_ctl.launch, which allows to test the offboard control routines of the Firmware, together with the MAVROS API.

Available tests

Offboard position and velocity control

Note: acceleration control still not supported on PX4 Firmware side.

Tested in launch files

iris_empty_world_offboard_ctl.launch

Description

Allows testing the offboard control routines of the PX4 firmware by issuing setpoint commands through MAVROS plugins. Current test implements code to send:

position setpoints
velocity setpoints

The tests are implemented by issuing some kind of shaped path. Current shapes are:

square/rectangle
circle
eight
ellipse (3D)

How to use

To test the different behaviors, edit iris_empty_world_offboard_ctl.launch. At the bottom of this file, you will find:

    <!-- SITL test base node launcher -->
    <arg name="mode" default="position" />    <!-- position ctl mode -->
    <arg name="shape" default="square" />    <!-- square shaped path -->

Just change the default value of them and issue roslaunch test_mavros iris_empty_world_offboard_ctl.launch

Or, you can just issue the roslaunch passing the parameter values on the command line, p.e. roslaunch test_mavros iris_empty_world_offboard_ctl.launch mode:=position shape:=square.

TODO

Implement acceleration setpoint sending, when this is implemented on Firmware side
Give possibility to users to define the amplitude of movement
Implement a PID controller for velocity to avoid overshoots in the onboard controller

APM SITL

All what you need described in ardupilot wiki.

Preparation

# this is for zsh, but bash should be similar
function add-dir-to-path() {
    PATH+=":$1"
}

# get sources
cd ~/ros/src
wstool set imu_tools --git https://github.com/ccny-ros-pkg/imu_tools.git -v indigo
wstool update -j2
catkin build

cd ~/src/UAV
git clone https://github.com/diydrones/ardupilot.git
git checkout ArduPlane-3.3.0 -b ArduPlane-3.3.0
git clone https://github.com/tridge/jsbsim.git

# compile JSBSim
cd jsbsim
./autogen.sh --enable-libraries
make -j4

# also look ardupliot wiki

# add path to jsbsim binaries
add-dir-to-path $PWD/src

# path to sim_vehicle.sh
cd ../ardupilot/Tools/autotest
add-dir-to-path $PWD

# build APM and load default params
cd ../../ArduPlane
sim_vehicle.sh -w

How to use

# shell 1: in ArduPlane folder
sim_vehicle.sh --out udp:localhost:15550 --map

# shell 2: imu test
roslaunch test_mavros apm_imu_test.launch

# shell 2: URDF model + local_position
roslaunch test_mavros apm_local_position_test.launch

Screen capture for IMU test (youtube video)

Screen capture for URDF model test

CHANGELOG

Could not convert RST to MD: No such file or directory - pandoc

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

Deps		Name
	1	angles
	1	cmake_modules
	1	catkin
	2	roscpp
	2	std_msgs
	2	geometry_msgs
	2	tf2_ros
	1	mavros
	1	mavros_extras
	1	eigen_conversions
	1	control_toolbox

System Dependencies

Name
eigen

Dependant Packages

No known dependants.

Launch files

launch/px4/iris_empty_world_offboard_ctl.launch
- - headless [default: false]
  - gui [default: true]
  - enable_logging [default: false]
  - enable_ground_truth [default: true]
  - ns [default: iris]
  - log_file [default: $(arg ns)]
  - fcu_url [default: udp://localhost:14560@localhost:14565]
  - gcs_url [default: ]
  - tgt_system [default: 1]
  - tgt_component [default: 1]
  - num_of_tests [default: 1]
  - rate [default: 10.0]
  - use_pid [default: true]
  - mode [default: position]
  - shape [default: square]
  - linvel_p_gain [default: 0.4]
  - linvel_i_gain [default: 0.05]
  - linvel_d_gain [default: 0.12]
  - linvel_i_max [default: 0.1]
  - linvel_i_min [default: -0.1]
  - yawrate_p_gain [default: 0.011]
  - yawrate_i_gain [default: 0.00058]
  - yawrate_d_gain [default: 0.12]
  - yawrate_i_max [default: 0.005]
  - yawrate_i_min [default: -0.005]
launch/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/apm/schematic_plane_rviz.launch
launch/apm/apm_local_position_test.launch
launch/apm/apm_imu_test.launch

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `test_mavros` at answers.ros.org

API Docs Browse Code Wiki

test_mavros package from mavros repo

libmavconn mavros mavros_extras mavros_msgs test_mavros

API Docs
Browse Code
Wiki

Package Summary

Tags	uav mav mavlink plugin apm px4
Version	0.30.0
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/mavlink/mavros.git
VCS Type	git
VCS Version	master
Last Updated	2019-05-22
Dev Status	DEVELOPED
Released	RELEASED

Package Description

Tests for MAVROS package

Additional Links

Maintainers

Vladimir Ermakov

Authors

Nuno Marques
Vladimir Ermakov

test_mavros/README.md

MAVROS test package

This package consists hand-tests with FCU SITL environment. I hope later we will do automatic tests too.

PX4 ROS SITL

Follow the instructions presented on PX4 ROS SITL Setup.

To test the simulation environment all you have to do is launch the proper ROS launch file. Right now, the current available one is iris_empty_world_offboard_ctl.launch, which allows to test the offboard control routines of the Firmware, together with the MAVROS API.

Available tests

Offboard position and velocity control

Note: acceleration control still not supported on PX4 Firmware side.

Tested in launch files

iris_empty_world_offboard_ctl.launch

Description

Allows testing the offboard control routines of the PX4 firmware by issuing setpoint commands through MAVROS plugins. Current test implements code to send:

position setpoints
velocity setpoints

The tests are implemented by issuing some kind of shaped path. Current shapes are:

square/rectangle
circle
eight
ellipse (3D)

How to use

To test the different behaviors, edit iris_empty_world_offboard_ctl.launch. At the bottom of this file, you will find:

    <!-- SITL test base node launcher -->
    <arg name="mode" default="position" />    <!-- position ctl mode -->
    <arg name="shape" default="square" />    <!-- square shaped path -->

Just change the default value of them and issue roslaunch test_mavros iris_empty_world_offboard_ctl.launch

Or, you can just issue the roslaunch passing the parameter values on the command line, p.e. roslaunch test_mavros iris_empty_world_offboard_ctl.launch mode:=position shape:=square.

TODO

Implement acceleration setpoint sending, when this is implemented on Firmware side
Give possibility to users to define the amplitude of movement
Implement a PID controller for velocity to avoid overshoots in the onboard controller

APM SITL

All what you need described in ardupilot wiki.

Preparation

# this is for zsh, but bash should be similar
function add-dir-to-path() {
    PATH+=":$1"
}

# get sources
cd ~/ros/src
wstool set imu_tools --git https://github.com/ccny-ros-pkg/imu_tools.git -v indigo
wstool update -j2
catkin build

cd ~/src/UAV
git clone https://github.com/diydrones/ardupilot.git
git checkout ArduPlane-3.3.0 -b ArduPlane-3.3.0
git clone https://github.com/tridge/jsbsim.git

# compile JSBSim
cd jsbsim
./autogen.sh --enable-libraries
make -j4

# also look ardupliot wiki

# add path to jsbsim binaries
add-dir-to-path $PWD/src

# path to sim_vehicle.sh
cd ../ardupilot/Tools/autotest
add-dir-to-path $PWD

# build APM and load default params
cd ../../ArduPlane
sim_vehicle.sh -w

How to use

# shell 1: in ArduPlane folder
sim_vehicle.sh --out udp:localhost:15550 --map

# shell 2: imu test
roslaunch test_mavros apm_imu_test.launch

# shell 2: URDF model + local_position
roslaunch test_mavros apm_local_position_test.launch

Screen capture for IMU test (youtube video)

Screen capture for URDF model test

CHANGELOG

Could not convert RST to MD: No such file or directory - pandoc

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

Deps		Name
	1	angles
	1	cmake_modules
	1	catkin
	2	roscpp
	2	std_msgs
	2	geometry_msgs
	2	tf2_ros
	1	mavros
	1	mavros_extras
	1	eigen_conversions
	1	control_toolbox

System Dependencies

Name
eigen

Dependant Packages

No known dependants.

Launch files

launch/px4/iris_empty_world_offboard_ctl.launch
- - headless [default: false]
  - gui [default: true]
  - enable_logging [default: false]
  - enable_ground_truth [default: true]
  - ns [default: iris]
  - log_file [default: $(arg ns)]
  - fcu_url [default: udp://localhost:14560@localhost:14565]
  - gcs_url [default: ]
  - tgt_system [default: 1]
  - tgt_component [default: 1]
  - num_of_tests [default: 1]
  - rate [default: 10.0]
  - use_pid [default: true]
  - mode [default: position]
  - shape [default: square]
  - linvel_p_gain [default: 0.4]
  - linvel_i_gain [default: 0.05]
  - linvel_d_gain [default: 0.12]
  - linvel_i_max [default: 0.1]
  - linvel_i_min [default: -0.1]
  - yawrate_p_gain [default: 0.011]
  - yawrate_i_gain [default: 0.00058]
  - yawrate_d_gain [default: 0.12]
  - yawrate_i_max [default: 0.005]
  - yawrate_i_min [default: -0.005]
launch/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/apm/schematic_plane_rviz.launch
launch/apm/apm_local_position_test.launch
launch/apm/apm_imu_test.launch

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `test_mavros` at answers.ros.org

API Docs Browse Code Wiki

test_mavros package from mavros repo

libmavconn mavros mavros_extras mavros_msgs test_mavros

API Docs
Browse Code
Wiki

Package Summary

Tags	uav mav mavlink plugin apm px4
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

Package Description

Tests for MAVROS package

Additional Links

Maintainers

Vladimir Ermakov

Authors

Nuno Marques
Vladimir Ermakov

test_mavros/README.md

MAVROS test package

This package consists hand-tests with FCU SITL environment. I hope later we will do automatic tests too.

PX4 ROS SITL

Follow the instructions presented on PX4 ROS SITL Setup.

To test the simulation environment all you have to do is launch the propper ROS launch file. Right now, the current available one is iris_empty_world_offboard_ctl.launch, which allows to test the offboard control routines of the Firmware, together with the MAVROS API.

Available tests

Offboard position and velocity control

Note: acceleration control still not supported on PX4 Firmware side.

Tested in launch files

iris_empty_world_offboard_ctl.launch

Description

Allows testing the offboard control routines of the PX4 firmware by issuing setpoint commands through MAVROS plugins. Current test implements code to send:

position setpoints
velocity setpoints

The tests are implemented by issuing some kind of shaped path. Current shapes are:

square/rectangle
circle
eight
ellipse (3D)

How to use

To test the different behaviors, edit iris_empty_world_offboard_ctl.launch. At the bottom of this file, you will find:

    <!-- SITL test base node launcher -->
    <arg name="mode" default="position" />    <!-- position ctl mode -->
    <arg name="shape" default="square" />    <!-- square shaped path -->

Just change the default value of them and issue roslaunch test_mavros iris_empty_world_offboard_ctl.launch

Or, you can just issue the roslaunch passing the parameter values on the command line, p.e. roslaunch test_mavros iris_empty_world_offboard_ctl.launch mode:=position shape:=square.

TODO

Implement acceleration setpoint sending, when this is implemented on Firmware side
Give possibility to users to define the amplitude of movement
Implement a PID controller for velocity to avoid overshoots in the onboard controller

APM SITL

All what you need described in ardupilot wiki.

Preparation

# this is for zsh, but bash should be similar
function add-dir-to-path() {
    PATH+=":$1"
}

# get sources
cd ~/ros/src
wstool set imu_tools --git https://github.com/ccny-ros-pkg/imu_tools.git -v indigo
wstool update -j2
catkin build

cd ~/src/UAV
git clone https://github.com/diydrones/ardupilot.git
git checkout ArduPlane-3.3.0 -b ArduPlane-3.3.0
git clone https://github.com/tridge/jsbsim.git

# compile JSBSim
cd jsbsim
./autogen.sh --enable-libraries
make -j4

# also look ardupliot wiki

# add path to jsbsim binaries
add-dir-to-path $PWD/src

# path to sim_vehicle.sh
cd ../ardupilot/Tools/autotest
add-dir-to-path $PWD

# build APM and load default params
cd ../../ArduPlane
sim_vehicle.sh -w

How to use

# shell 1: in ArduPlane folder
sim_vehicle.sh --out udp:localhost:15550 --map

# shell 2: imu test
roslaunch test_mavros apm_imu_test.launch

# shell 2: URDF model + local_position
roslaunch test_mavros apm_local_position_test.launch

Screen capture for IMU test (youtube video)

Screen capture for URDF model test

CHANGELOG

Could not convert RST to MD: No such file or directory - pandoc

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

Deps		Name
	1	angles
	1	cmake_modules
	1	catkin
	2	roscpp
	2	std_msgs
	2	geometry_msgs
	2	tf2_ros
	1	mavros
	1	mavros_extras
	1	eigen_conversions
	1	control_toolbox

System Dependencies

Name
eigen

Dependant Packages

No known dependants.

Launch files

launch/px4/iris_empty_world_offboard_ctl.launch
- - headless [default: false]
  - gui [default: true]
  - enable_logging [default: false]
  - enable_ground_truth [default: true]
  - ns [default: iris]
  - log_file [default: $(arg ns)]
  - fcu_url [default: udp://localhost:14560@localhost:14565]
  - gcs_url [default: ]
  - tgt_system [default: 1]
  - tgt_component [default: 1]
  - num_of_tests [default: 1]
  - rate [default: 10.0]
  - use_pid [default: true]
  - mode [default: position]
  - shape [default: square]
  - linvel_p_gain [default: 0.4]
  - linvel_i_gain [default: 0.05]
  - linvel_d_gain [default: 0.12]
  - linvel_i_max [default: 0.1]
  - linvel_i_min [default: -0.1]
  - yawrate_p_gain [default: 0.011]
  - yawrate_i_gain [default: 0.00058]
  - yawrate_d_gain [default: 0.12]
  - yawrate_i_max [default: 0.005]
  - yawrate_i_min [default: -0.005]
launch/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/apm/schematic_plane_rviz.launch
launch/apm/apm_local_position_test.launch
launch/apm/apm_imu_test.launch

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `test_mavros` at answers.ros.org

API Docs Browse Code Wiki

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

test_mavros package from mavros repo

libmavconn mavros mavros_extras mavros_msgs test_mavros

API Docs
Browse Code
Wiki

Package Summary

Tags	uav mav mavlink plugin apm px4
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

Package Description

Tests for MAVROS package

Additional Links

Maintainers

Vladimir Ermakov

Authors

Nuno Marques
Vladimir Ermakov

test_mavros/README.md

MAVROS test package

This package consists hand-tests with FCU SITL environment. I hope later we will do automatic tests too.

PX4 ROS SITL

Follow the instructions presented on PX4 ROS SITL Setup.

To test the simulation environment all you have to do is launch the propper ROS launch file. Right now, the current available one is iris_empty_world_offboard_ctl.launch, which allows to test the offboard control routines of the Firmware, together with the MAVROS API.

Available tests

Offboard position and velocity control

Note: acceleration control still not supported on PX4 Firmware side.

Tested in launch files

iris_empty_world_offboard_ctl.launch

Description

Allows testing the offboard control routines of the PX4 firmware by issuing setpoint commands through MAVROS plugins. Current test implements code to send:

position setpoints
velocity setpoints

The tests are implemented by issuing some kind of shaped path. Current shapes are:

square/rectangle
circle
eight
ellipse (3D)

How to use

To test the different behaviors, edit iris_empty_world_offboard_ctl.launch. At the bottom of this file, you will find:

    <!-- SITL test base node launcher -->
    <arg name="mode" default="position" />    <!-- position ctl mode -->
    <arg name="shape" default="square" />    <!-- square shaped path -->

Just change the default value of them and issue roslaunch test_mavros iris_empty_world_offboard_ctl.launch

Or, you can just issue the roslaunch passing the parameter values on the command line, p.e. roslaunch test_mavros iris_empty_world_offboard_ctl.launch mode:=position shape:=square.

TODO

Implement acceleration setpoint sending, when this is implemented on Firmware side
Give possibility to users to define the amplitude of movement
Implement a PID controller for velocity to avoid overshoots in the onboard controller

APM SITL

All what you need described in ardupilot wiki.

Preparation

# this is for zsh, but bash should be similar
function add-dir-to-path() {
    PATH+=":$1"
}

# get sources
cd ~/ros/src
wstool set imu_tools --git https://github.com/ccny-ros-pkg/imu_tools.git -v indigo
wstool update -j2
catkin build

cd ~/src/UAV
git clone https://github.com/diydrones/ardupilot.git
git checkout ArduPlane-3.3.0 -b ArduPlane-3.3.0
git clone https://github.com/tridge/jsbsim.git

# compile JSBSim
cd jsbsim
./autogen.sh --enable-libraries
make -j4

# also look ardupliot wiki

# add path to jsbsim binaries
add-dir-to-path $PWD/src

# path to sim_vehicle.sh
cd ../ardupilot/Tools/autotest
add-dir-to-path $PWD

# build APM and load default params
cd ../../ArduPlane
sim_vehicle.sh -w

How to use

# shell 1: in ArduPlane folder
sim_vehicle.sh --out udp:localhost:15550 --map

# shell 2: imu test
roslaunch test_mavros apm_imu_test.launch

# shell 2: URDF model + local_position
roslaunch test_mavros apm_local_position_test.launch

Screen capture for IMU test (youtube video)

Screen capture for URDF model test

CHANGELOG

Could not convert RST to MD: No such file or directory - pandoc

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

Deps		Name
	1	angles
	1	cmake_modules
	1	catkin
	2	roscpp
	2	std_msgs
	2	geometry_msgs
	2	tf2_ros
	1	mavros
	1	mavros_extras
	1	eigen_conversions
	1	control_toolbox

System Dependencies

Name
eigen

Dependant Packages

No known dependants.

Launch files

launch/px4/iris_empty_world_offboard_ctl.launch
- - headless [default: false]
  - gui [default: true]
  - enable_logging [default: false]
  - enable_ground_truth [default: true]
  - ns [default: iris]
  - log_file [default: $(arg ns)]
  - fcu_url [default: udp://localhost:14560@localhost:14565]
  - gcs_url [default: ]
  - tgt_system [default: 1]
  - tgt_component [default: 1]
  - num_of_tests [default: 1]
  - rate [default: 10.0]
  - use_pid [default: true]
  - mode [default: position]
  - shape [default: square]
  - linvel_p_gain [default: 0.4]
  - linvel_i_gain [default: 0.05]
  - linvel_d_gain [default: 0.12]
  - linvel_i_max [default: 0.1]
  - linvel_i_min [default: -0.1]
  - yawrate_p_gain [default: 0.011]
  - yawrate_i_gain [default: 0.00058]
  - yawrate_d_gain [default: 0.12]
  - yawrate_i_max [default: 0.005]
  - yawrate_i_min [default: -0.005]
launch/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/apm/schematic_plane_rviz.launch
launch/apm/apm_local_position_test.launch
launch/apm/apm_imu_test.launch

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `test_mavros` at answers.ros.org

API Docs Browse Code Wiki

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

test_mavros package from mavros repo

Package Summary

Repository Summary

Package Description

Additional Links

Maintainers

Authors

MAVROS test package

PX4 ROS SITL

Available tests

Offboard position and velocity control

Tested in launch files

Description

How to use

TODO

APM SITL

Preparation

How to use

Screen capture for IMU test (youtube video)

Screen capture for URDF model test

Wiki Tutorials

Source Tutorials

Package Dependencies

System Dependencies

Dependant Packages

Launch files

Messages

Services

Plugins

Recent questions tagged test_mavros at answers.ros.org

test_mavros package from mavros repo

Package Summary

Repository Summary

Package Description

Additional Links

Maintainers

Authors

MAVROS test package

PX4 ROS SITL

Available tests

Offboard position and velocity control

Tested in launch files

Description

How to use

TODO

APM SITL

Preparation

How to use

Screen capture for IMU test (youtube video)

Screen capture for URDF model test

Wiki Tutorials

Source Tutorials

Package Dependencies

System Dependencies

Dependant Packages

Launch files

Messages

Services

Plugins

Recent questions tagged test_mavros at answers.ros.org

test_mavros package from mavros repo

Package Summary

Repository Summary

Package Description

Additional Links

Maintainers

Authors

MAVROS test package

PX4 ROS SITL

Available tests

Offboard position and velocity control

Tested in launch files

Description

How to use

TODO

APM SITL

Preparation

How to use

Screen capture for IMU test (youtube video)

Screen capture for URDF model test

Recent questions tagged `test_mavros` at answers.ros.org

Recent questions tagged `test_mavros` at answers.ros.org

Recent questions tagged `test_mavros` at answers.ros.org

Recent questions tagged `test_mavros` at answers.ros.org

Recent questions tagged `test_mavros` at answers.ros.org