Merge pull request #8 from SemvdH/main

fix some errors

call_attitude.sh

@@ -0,0 +1 @@
+ros2 service call /drone/set_attitude drone_services/srv/SetAttitude "{pitch: $1, yaw: $2, roll: $3, thrust: $4}"

src/drone_services/CMakeLists.txt

@@ -28,6 +28,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "srv/SetVehicleControl.srv"
   "srv/ArmDrone.srv"
   "srv/DisarmDrone.srv"
+  "srv/ControlRelais.srv"
   "msg/DroneControlMode.msg"
 )
 

src/drone_services/msg/DroneArmStatus.msg

@@ -0,0 +1 @@
+bool armed false

src/drone_services/msg/DroneRouteStatus.msg

@@ -0,0 +1,2 @@
+int32 current_setpoint_index
+float32[5] current_setpoint # x,y,z,angle,take_picture

src/drone_services/msg/DroneStatus.msg

@@ -0,0 +1,5 @@
+float32 battery_percentage
+float32 cpu_usage
+int32 route_setpoint # -1 if no route
+wstring control_mode
+bool armed

src/drone_services/srv/ControlRelais.srv

@@ -0,0 +1,5 @@
+#to turn the relais on or off
+bool relais1_on false
+bool relais2_on false
+---
+int8 bits # relais 1 = bit 0, relais 2 is bit 1

src/drone_status/drone_status/drone_status.py

@@ -0,0 +1,63 @@
+import rclpy
+from rclpy.node import Node
+
+from drone_services.msg import DroneStatus
+from drone_services.msg import DroneControlMode
+from drone_services.msg import DroneArmStatus
+from drone_services.msg import DroneRouteStatus
+from px4_msgs.msg import BatteryStatus
+from px4_msgs.msg import Cpuload
+
+CONTROL_MODE_ATTITUDE = 1
+CONTROL_MODE_VELOCITY = 2
+CONTROL_MODE_POSITION = 3
+
+class DroneStatus(Node):
+    def __init__(self):
+        super().__init__('drone_status')
+        #publish to drone/status topic
+        self.publisher = self.create_publisher(DroneStatus, '/drone/status', 10)
+        self.control_mode_subscriber = self.create_subscription(DroneControlMode, '/drone/control_mode', self.control_mode_callback, 10)
+        self.arm_status_subscriber = self.create_subscription(DroneArmStatus, '/drone/arm_status', self.arm_status_callback, 10)
+        self.route_status_subscriber = self.create_subscription(DroneRouteStatus, '/drone/route_status', self.route_status_callback, 10)
+        self.battery_status_subscriber = self.create_subscription(BatteryStatus, '/fmu/out/battery_status', self.battery_status_callback, 10)
+        self.cpu_load_subscriber = self.create_subscription(Cpuload, '/fmu/out/cpuload', self.cpu_load_callback, 10)
+        #publish every 0.5 seconds
+        self.timer = self.create_timer(0.5, self.publish_status)
+        self.armed = False
+        self.control_mode = "attitude"
+        self.battery_percentage = 100.0
+        self.cpu_usage = 0.0
+        self.route_setpoint = 0
+    
+    def publish_status(self):
+        msg = DroneStatus()
+        msg.armed = self.armed
+        msg.control_mode = self.control_mode
+        msg.battery_percentage = self.battery_percentage
+        msg.cpu_usage = self.cpu_usage
+        msg.route_setpoint = self.route_setpoint
+        self.publisher.publish(msg)
+        self.get_logger().info('Publishing: "%s"' % msg.status)
+
+    def control_mode_callback(self,msg):
+        if msg.control_mode == CONTROL_MODE_ATTITUDE:
+            self.control_mode = "attitude"
+        elif msg.control_mode == CONTROL_MODE_VELOCITY:
+            self.control_mode = "velocity"
+        elif msg.control_mode == CONTROL_MODE_POSITION:
+            self.control_mode = "position"
+        else:
+            self.control_mode = "unknown"
+
+    def arm_status_callback(self,msg):
+        self.armed = msg.armed
+    
+    def route_status_callback(self,msg):
+        self.route_setpoint = msg.current_setpoint_index
+
+    def battery_status_callback(self, msg):
+        self.battery_percentage = msg.remaining * 100.0
+    
+    def cpu_load_callback(self, msg):
+        self.cpu_usage = msg.load

src/drone_status/package.xml

@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+    <name>drone_status</name>
+    <version>0.0.0</version>
+    <description>Package for combining several data points from the drone into a single topic</description>
+    <maintainer email="semmer99@gmail.com">ubuntu</maintainer>
+    <license>Apache License 2.0</license>
+    <exec_depend>rclpy</exec_depend>
+    <exec_depend>drone_services</exec_depend>
+    <exec_depend>px4_msgs</exec_depend>
+
+    <test_depend>ament_copyright</test_depend>
+    <test_depend>ament_flake8</test_depend>
+    <test_depend>ament_pep257</test_depend>
+    <test_depend>python3-pytest</test_depend>
+
+    <export>
+        <build_type>ament_python</build_type>
+    </export>
+</package>

src/drone_status/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script-dir=$base/lib/drone_status
+[install]
+install-scripts=$base/lib/drone_status

src/drone_status/setup.py

@@ -0,0 +1,25 @@
+from setuptools import setup
+
+package_name = 'drone_status'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=[package_name],
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='ubuntu',
+    maintainer_email='semmer99@gmail.com',
+    description='TODO: Package description',
+    license='TODO: License declaration',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+        ],
+    },
+)

src/drone_status/test/test_copyright.py

@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'

src/drone_status/test/test_flake8.py

@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \
+        'Found %d code style errors / warnings:\n' % len(errors) + \
+        '\n'.join(errors)

src/drone_status/test/test_pep257.py

@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'

src/px4_connection/CMakeLists.txt

@@ -28,6 +28,7 @@ add_executable(heartbeat src/heartbeat.cpp)
 ament_target_dependencies(
     heartbeat
     rclcpp
+    drone_services
     px4_ros_com
     px4_msgs
     drone_services

src/px4_connection/src/heartbeat.cpp

@@ -1,3 +1,4 @@
+
 /**
  * @file heartbeat.cpp
  * @author Sem van der Hoeven (sem.hoeven@gmail.com)
@@ -62,15 +63,6 @@ private:
         msg.attitude = (this->control_mode >> CONTROL_ATTITUDE_POS) & 1 ? true : false;
         msg.body_rate = (this->control_mode >> CONTROL_BODY_RATE_POS) & 1 ? true : false;
         msg.actuator = (this->control_mode >> CONTROL_ACTUATOR_POS) & 1 ? true : false;
-        
-        /*
-        msg.position = false;
-        msg.velocity = false;
-        msg.acceleration = false;
-        msg.attitude = true;
-        msg.body_rate = false;
-        msg.actuator = false;
-        */
         // get timestamp and publish message
         msg.timestamp = this->get_clock()->now().nanoseconds() / 1000;
         offboard_control_mode_publisher_->publish(msg);

src/px4_connection/src/px4_controller.cpp

@@ -15,12 +15,14 @@
 #include <px4_msgs/msg/vehicle_command.hpp>
 #include <px4_msgs/msg/vehicle_control_mode.hpp>
 #include <px4_msgs/msg/vehicle_attitude.hpp>
+#include <px4_msgs/msg/vehicle_local_position.hpp>
 
 #include <drone_services/srv/set_attitude.hpp>
 #include <drone_services/srv/set_trajectory.hpp>
 #include <drone_services/srv/arm_drone.hpp>
 #include <drone_services/srv/disarm_drone.hpp>
 #include <drone_services/msg/drone_control_mode.hpp>
+#include <drone_services/msg/drone_arm_status.hpp>
 
 #include <std_srvs/srv/empty.hpp>
 
@@ -44,11 +46,14 @@ public:
         vehicle_setpoint_publisher_ = this->create_publisher<px4_msgs::msg::VehicleAttitudeSetpoint>("/fmu/in/vehicle_attitude_setpoint", 10);
         vehicle_command_publisher_ = this->create_publisher<px4_msgs::msg::VehicleCommand>("/fmu/in/vehicle_command", 10);
         trajectory_setpoint_publisher = this->create_publisher<px4_msgs::msg::TrajectorySetpoint>("/fmu/in/trajectory_setpoint", 10);
+        arm_status_publisher_ = this->create_publisher<drone_services::msg::DroneArmStatus>("/drone/arm_status", 10);
         // offboard_control_mode_publisher_ = this->create_publisher<px4_msgs::msg::OffboardControlMode>("/fmu/in/offboard_control_mode", 10);
 
         vehicle_attitude_subscription_ = this->create_subscription<px4_msgs::msg::VehicleAttitude>("/fmu/out/vehicle_attitude", qos, std::bind(&PX4Controller::on_attitude_receive, this, std::placeholders::_1));
+        vehicle_local_position_subscription_ = this->create_subscription<px4_msgs::msg::VehicleLocalPosition>("/fmu/out/vehicle_local_position", qos, std::bind(&PX4Controller::on_local_position_receive, this, std::placeholders::_1));
         control_mode_subscription_ = this->create_subscription<drone_services::msg::DroneControlMode>("/drone/control_mode", qos, std::bind(&PX4Controller::on_control_mode_receive, this, std::placeholders::_1));
 
+
         set_attitude_service_ = this->create_service<drone_services::srv::SetAttitude>("/drone/set_attitude", std::bind(&PX4Controller::handle_attitude_setpoint, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
         set_trajectory_service_ = this->create_service<drone_services::srv::SetTrajectory>("/drone/set_trajectory", std::bind(&PX4Controller::handle_trajectory_setpoint, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
         disarm_service_ = this->create_service<drone_services::srv::DisarmDrone>("/drone/disarm", std::bind(&PX4Controller::handle_disarm_request, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
@@ -64,7 +69,10 @@ private:
     rclcpp::Publisher<px4_msgs::msg::VehicleAttitudeSetpoint>::SharedPtr vehicle_setpoint_publisher_;
     rclcpp::Publisher<px4_msgs::msg::TrajectorySetpoint>::SharedPtr trajectory_setpoint_publisher;
     rclcpp::Publisher<px4_msgs::msg::VehicleCommand>::SharedPtr vehicle_command_publisher_;
+    rclcpp::Publisher<drone_services::msg::DroneArmStatus>::SharedPtr arm_status_publisher_;
+
     rclcpp::Subscription<px4_msgs::msg::VehicleAttitude>::SharedPtr vehicle_attitude_subscription_;
+    rclcpp::Subscription<px4_msgs::msg::VehicleLocalPosition>::SharedPtr vehicle_local_position_subscription_;
     rclcpp::Subscription<drone_services::msg::DroneControlMode>::SharedPtr control_mode_subscription_;
 
     rclcpp::Service<drone_services::srv::SetAttitude>::SharedPtr set_attitude_service_;
@@ -98,6 +106,27 @@ private:
 
     char current_control_mode = CONTROL_MODE_ATTITUDE; // start with attitude control
 
+    bool start_trajectory = false;
+    const float omega = 0.3; // angular speed of the POLAR trajectory
+    const float K = 0;       // [m] gain that regulates the spiral pitch
+
+    float rho_0 = 0;
+    float theta_0 = 0;
+    const float p0_z = -0.0;
+    float p0_x = rho_0 * cos(theta_0);
+    float p0_y = rho_0 * sin(theta_0);
+    float des_x = p0_x, des_y = p0_y, des_z = p0_z;
+    float dot_des_x = 0.0, dot_des_y = 0.0;
+    float gamma = M_PI_4;
+
+    float X;
+    float Y;
+
+    float local_x = 0;
+    float local_y = 0;
+
+    uint32_t discrete_time_index = 0;
+
     // result quaternion
     std::array<float, 4> q = {0, 0, 0, 0};
 
@@ -166,14 +195,14 @@ private:
             }
             else if (request->control_mode == CONTROL_MODE_POSITION)
             {
-                for (int i = 0; i < 3; i++)
+                position[0] += request->values[0];
-                {
+                position[1] += request->values[1];
-                    position[i] = request->values[i];
+                position[2] -= request->values[2]; // height is negative
-                }
+
                 RCLCPP_INFO(this->get_logger(), "Got new position setpoint: %f %f %f", position[0], position[1], position[2]);
             }
 
-            last_angle = request->yaw;
+            last_angle += request->yaw;
             new_setpoint = true;
             RCLCPP_INFO(this->get_logger(), "Yaw: %f", last_angle);
             response->success = true;
@@ -199,6 +228,11 @@ private:
             armed = false;
             user_in_control = false;
             publish_vehicle_command(px4_msgs::msg::VehicleCommand::VEHICLE_CMD_COMPONENT_ARM_DISARM, 0.0, 0);
+
+            auto msg = drone_services::msg::DroneArmStatus();
+            msg.armed = false;
+            arm_status_publisher_->publish(msg);
+            
             response->success = true;
         }
         else
@@ -232,6 +266,11 @@ private:
             RCLCPP_INFO(this->get_logger(), "Arm command sent");
             this->last_thrust = -0.1; // spin motors at 10% thrust
             armed = true;
+
+            auto msg = drone_services::msg::DroneArmStatus();
+            msg.armed = true;
+            arm_status_publisher_->publish(msg);
+
             response->success = true;
         }
         else
@@ -273,7 +312,11 @@ private:
 
         msg.velocity[0] = velocity[0];
         msg.velocity[1] = velocity[1];
-        msg.velocity[2] = D_SPEED(velocity[2]);
+        msg.velocity[2] = -velocity[2];
+        for (int i = 0; i < 3; i++)
+        {
+            msg.position[i] = NAN;
+        }
 
         publish_trajectory_setpoint(msg);
     }
@@ -282,12 +325,14 @@ private:
     {
         auto msg = px4_msgs::msg::TrajectorySetpoint();
 
-        for (int i = 0; i < 3; i++)
+        RCLCPP_INFO(this->get_logger(), "Sending position setpoint: %f %f %f", des_x, des_y, des_z);
-        {
+        RCLCPP_INFO(this->get_logger(),"local position: %f %f", local_x, local_y);
-            msg.position[i] = position[i];
+        msg.position = {local_x, local_y, des_z};
-        }
+        msg.velocity = {dot_des_x, dot_des_y, 0.0};
+        msg.yaw = gamma; //-3.14; // [-PI:PI]
 
-        publish_trajectory_setpoint(msg);
+        msg.timestamp = this->get_clock()->now().nanoseconds() / 1000;
+        trajectory_setpoint_publisher->publish(msg);
     }
 
     void publish_trajectory_setpoint(px4_msgs::msg::TrajectorySetpoint msg)
@@ -304,25 +349,24 @@ private:
      */
     void send_setpoint()
     {
+        // the spiral, in polar coordinates (theta, rho), is given by
+        // theta = theta_0 + omega*t
+        // rho = rho_0 + K*theta
+        float theta = theta_0 + omega * 0.1 * discrete_time_index;
+        float rho = rho_0 + K * theta;
 
-        /*
+        // from polar to cartesian coordinates
-        setpoint_count++;
+        des_x = rho * cos(theta);
-        if (setpoint_count == 20)
+        des_y = rho * sin(theta);
-        {
+        des_z = position[2]; // the z position can be set to the received height
-            this->publish_vehicle_command(px4_msgs::msg::VehicleCommand::VEHICLE_CMD_DO_SET_MODE, 1, 6);
-            RCLCPP_INFO(this->get_logger(), "Set to offboard mode");
-            // arm the drone
-            this->publish_vehicle_command(px4_msgs::msg::VehicleCommand::VEHICLE_CMD_COMPONENT_ARM_DISARM, 1.0, 0);
 
-            RCLCPP_INFO(this->get_logger(), "Arm command sent");
+        // velocity computation
-            this->last_thrust = -0.1; // spin motors at 10% thrust
+        float dot_rho = K * omega;
-            armed = true;
+        dot_des_x = dot_rho * cos(theta) - rho * sin(theta) * omega;
-        }
+        dot_des_y = dot_rho * sin(theta) + rho * cos(theta) * omega;
+        // desired heading direction
+        gamma = atan2(dot_des_y, dot_des_x);
 
-        send_attitude_setpoint();
-        */
-
-        // RCLCPP_INFO(this->get_logger(), "current values: %f %f %f %f", last_setpoint[0], last_setpoint[1], last_setpoint[2], last_thrust);
         if (!user_in_control)
         {
             // RCLCPP_INFO(this->get_logger(), "Sending idle attitude setpoint");
@@ -354,6 +398,10 @@ private:
                 new_setpoint = false;
             }
         }
+        if (start_trajectory)
+        {
+            discrete_time_index++;
+        }
     }
 
     void on_attitude_receive(const px4_msgs::msg::VehicleAttitude::SharedPtr msg)
@@ -381,7 +429,30 @@ private:
                 base_q_amount++;
             }
 
-            RCLCPP_INFO(this->get_logger(), "base_q: %f %f %f %f", base_q[0], base_q[1], base_q[2], base_q[3]);
+            // RCLCPP_INFO(this->get_logger(), "base_q: %f %f %f %f", base_q[0], base_q[1], base_q[2], base_q[3]);
+        }
+    }
+
+    void on_local_position_receive(const px4_msgs::msg::VehicleLocalPosition::SharedPtr msg)
+    {
+        // set start values to current position
+        if (!user_in_control)
+        {
+            // https://www.math.usm.edu/lambers/mat169/fall09/lecture33.pdf
+            rho_0 = pow(msg->x,2) + pow(msg->y,2);
+            theta_0 = atan2(msg->y, msg->x);
+            last_angle = msg->heading;
+
+            local_x = msg->x;
+            local_y = msg->y;
+        }
+        X = msg->x;
+        Y = msg->y;
+        float Z = msg->z;
+        if (!start_trajectory && (p0_x + 1.0 > X && p0_x - 1.0 < X) && (p0_y + 1.0 > Y && p0_y - 1.0 < Y) && (p0_z + 1.0 > Z && p0_z - 1.0 < Z))
+        {
+            start_trajectory = true;
+            RCLCPP_INFO(this->get_logger(), "start trajectory");
         }
     }
 

src/relais_control/package.xml

@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+    <name>relais_control</name>
+    <version>0.0.0</version>
+    <description>package to control the relais that enables Pixhawk RX and TX communication</description>
+    <maintainer email="semmer99@gmail.com">ubuntu</maintainer>
+    <license>Apache License 2.0</license>
+    <exec_depend>rclpy</exec_depend>
+    <exec_depend>drone_services</exec_depend>
+
+
+    <test_depend>ament_copyright</test_depend>
+    <test_depend>ament_flake8</test_depend>
+    <test_depend>ament_pep257</test_depend>
+    <test_depend>python3-pytest</test_depend>
+
+    <export>
+        <build_type>ament_python</build_type>
+    </export>
+</package>

src/relais_control/relais_control/relais_controller.py

@@ -0,0 +1,66 @@
+import rclpy
+from rclpy.node import Node
+
+try:
+    import RPi.GPIO as GPIO
+except RuntimeError:
+    print("Error importing RPi.GPIO!  This is probably because you need superuser privileges.  You can achieve this by using 'sudo' to run your script")
+
+from drone_services.srv import ControlRelais
+class RelaisController(Node):
+    def __init__(self):
+        super().__init__('relais_controller')
+        self.srv = self.create_service(ControlRelais, '/drone/control_relais', self.control_relais_callback)
+
+        self.relais1_pin = 17
+        self.relais2_pin = 27
+        self.init_gpio()
+        self.turn_relais_on()
+    
+    def init_gpio(self):
+        GPIO.setwarnings(False)
+
+        self.get_logger().info(str(GPIO.RPI_INFO))
+
+        GPIO.setmode(GPIO.BCM)
+
+        GPIO.setup(self.relais1_pin, GPIO.OUT)
+        GPIO.setup(self.relais2_pin, GPIO.OUT)
+        self.get_logger().info("GPIO initialized")
+
+    def turn_relais_on(self):
+        GPIO.output(self.relais1_pin, GPIO.HIGH)
+        GPIO.output(self.relais2_pin, GPIO.HIGH)
+        self.get_logger().info("Relais turned on")
+
+    def control_relais_callback(self, request, response):
+        if request.relais1_on:
+            GPIO.output(self.relais1_pin, GPIO.HIGH)
+            response.bits = response.bits | 1
+        else:
+            GPIO.output(self.relais1_pin, GPIO.LOW)
+            response.bits = response.bits & ~(1 << 0)
+        if request.relais2_on:
+            GPIO.output(self.relais2_pin, GPIO.HIGH)
+            response.bits = response.bits | (1 << 1)
+        else:
+            GPIO.output(self.relais2_pin, GPIO.LOW)
+            response.bits = response.bits & ~(1 << 1)
+        return response
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    relais_controller = RelaisController()
+
+    rclpy.spin(relais_controller)
+
+    # Destroy the node explicitly
+    # (optional - otherwise it will be done automatically
+    # when the garbage collector destroys the node object)
+    relais_controller.destroy_node()
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()

src/relais_control/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script-dir=$base/lib/relais_control
+[install]
+install-scripts=$base/lib/relais_control

src/relais_control/setup.py

@@ -0,0 +1,26 @@
+from setuptools import setup
+
+package_name = 'relais_control'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=[package_name],
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='ubuntu',
+    maintainer_email='semmer99@gmail.com',
+    description='TODO: Package description',
+    license='TODO: License declaration',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            'relais_controller = relais_control.relais_controller:main'
+        ],
+    },
+)

src/relais_control/test/test_copyright.py

@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'

src/relais_control/test/test_flake8.py

@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \
+        'Found %d code style errors / warnings:\n' % len(errors) + \
+        '\n'.join(errors)

src/relais_control/test/test_pep257.py

@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'

src/test_controls/test_controls/test_controller.py

@@ -104,9 +104,9 @@ class TestController(Node):
             self.send_attitude_request(pitch=0.0, yaw=0.0,
                                        roll=0.0, thrust=0.05)
         elif (self.control_mode == CONTROL_MODE_VELOCITY):
-            self.send_velocity_request(x=0.0, y=0.0, z=1.0, angle=0.0)
+            self.send_velocity_request(x=0.0, y=0.0, z=0.1, angle=0.0)
         else:
-            self.send_position_request(x=0.0, y=0.0, z=1.0, angle=0.0)
+            self.send_position_request(x=0.0, y=0.0, z=0.5, angle=0.0)
 
     def move_right(self):
         if (self.control_mode == CONTROL_MODE_ATTITUDE):
@@ -122,9 +122,9 @@ class TestController(Node):
             self.send_attitude_request(pitch=0.0, yaw=0.0,
                                        roll=0.0, thrust=-0.05)
         elif (self.control_mode == CONTROL_MODE_VELOCITY):
-            self.send_velocity_request(x=0.0, y=0.0, z=-1.0, angle=0.0)
+            self.send_velocity_request(x=0.0, y=0.0, z=-0.1, angle=0.0)
         else:
-            self.send_position_request(x=0.0, y=0.0, z=-1.0, angle=0.0)
+            self.send_position_request(x=0.0, y=0.0, z=-0.5, angle=0.0)
 
     def move_left(self):
         if (self.control_mode == CONTROL_MODE_ATTITUDE):
@@ -185,7 +185,7 @@ class TestController(Node):
             self.send_attitude_request(pitch=0.0, yaw=0.0,
                                        roll=0.0, thrust=0.01)
         elif (self.control_mode == CONTROL_MODE_VELOCITY):
-            self.send_velocity_request(x=0.0, y=0.0, z=0.5, angle=0.0)
+            self.send_velocity_request(x=0.0, y=0.0, z=0.05, angle=0.0)
         else:
             self.send_position_request(x=0.0, y=0.0, z=1.0, angle=0.0)
 
@@ -194,7 +194,7 @@ class TestController(Node):
             self.send_attitude_request(pitch=0.0, yaw=0.0,
                                        roll=0.0, thrust=-0.01)
         elif (self.control_mode == CONTROL_MODE_VELOCITY):
-            self.send_velocity_request(x=0.0, y=0.0, z=-0.5, angle=0.0)
+            self.send_velocity_request(x=0.0, y=0.0, z=-0.05, angle=0.0)
         else:
             self.send_position_request(x=0.0, y=0.0, z=-1.0, angle=0.0)