simulation: hitl support

.github/workflows/build.yml

@@ -16,22 +16,8 @@ jobs:
   #         docker run --rm -v $(pwd):/root/catkin_ws/src/clover ros:melodic-ros-base /root/catkin_ws/src/clover/builder/standalone-install.sh
   noetic:
     runs-on: ubuntu-latest
-    container: ros:noetic-ros-base
-    defaults:
-      run:
-        working-directory: catkin_ws
-        shell: bash
     steps:
-    - uses: actions/checkout@v2
-      with:
-        path: catkin_ws/src/clover
-    - name: Install pip
-      run: apt-get update && apt-get -y install python3-pip
-    - name: Install dependencies
-      run: rosdep update && rosdep install --from-paths src --ignore-src -y
-    - name: catkin_make
-      run: source /opt/ros/$ROS_DISTRO/setup.bash && catkin_make
-    - name: Run tests
-      run: source devel/setup.bash && catkin_make run_tests && catkin_test_results
-    - name: Install
-      run: source devel/setup.bash && catkin_make install
+      - uses: actions/checkout@v2
+      - name: Native Noetic build
+        run: |
+          docker run --rm -v $(pwd):/root/catkin_ws/src/clover ros:noetic-ros-base /root/catkin_ws/src/clover/builder/standalone-install.sh

aruco_pose/CMakeLists.txt

@@ -251,5 +251,4 @@ if (CATKIN_ENABLE_TESTING)
   add_rostest(test/test_node_failure.test)
   add_rostest(test/largemap.test)
   add_rostest(test/crash_opencv.test)
-  add_rostest(test/duplicate.test)
 endif()

aruco_pose/src/aruco_detect.cpp

@@ -187,8 +187,6 @@ private:
 
 			array_.markers.reserve(ids.size());
 			aruco_pose::Marker marker;
-			vector<geometry_msgs::TransformStamped> transforms;
-			transforms.reserve(ids.size());
 			geometry_msgs::TransformStamped transform;
 			transform.header.stamp = msg->header.stamp;
 			transform.header.frame_id = msg->header.frame_id;
@@ -206,33 +204,20 @@ private:
 						snapOrientation(marker.pose.orientation, snap_to.transform.rotation, auto_flip_);
 					}
 
+					// TODO: check IDs are unique
 					if (send_tf_) {
 						transform.child_frame_id = getChildFrameId(ids[i]);
 
 						// check if such static transform is in the map
 						if (map_markers_ids_.find(ids[i]) == map_markers_ids_.end()) {
-							// check if a markers with that id is already added
-							bool send = true;
-							for (auto &t : transforms) {
-								if (t.child_frame_id == transform.child_frame_id) {
-									send = false;
-									break;
-								}
-							}
-							if (send) {
-								transform.transform.rotation = marker.pose.orientation;
-								fillTranslation(transform.transform.translation, tvecs[i]);
-								transforms.push_back(transform);
-							}
+							transform.transform.rotation = marker.pose.orientation;
+							fillTranslation(transform.transform.translation, tvecs[i]);
+							br_->sendTransform(transform);
 						}
 					}
 				}
 				array_.markers.push_back(marker);
 			}
-
-			if (send_tf_) {
-				br_->sendTransform(transforms);
-			}
 		}
 
 		markers_pub_.publish(array_);

aruco_pose/test/duplicate.py

@@ -1,8 +0,0 @@
-import pytest
-import subprocess
-
-def test_no_tf_repeated_data():
-    # `/rosout` acts weirdly inside rostest, so using a subprocess
-    cmd = """python -c 'import rospy, tf; rospy.init_node("foo"); listener = tf.TransformListener(); rospy.sleep(2)'"""
-    output = str(subprocess.check_output(cmd, shell=True, stderr=subprocess.STDOUT))
-    assert 'TF_REPEATED_DATA' not in output, 'TF_REPEATED_DATA was logged on duplicate markers'

aruco_pose/test/duplicate.test

@@ -1,21 +0,0 @@
-<launch>
-    <node pkg="image_publisher" type="image_publisher" name="main_camera" args="$(find aruco_pose)/test/duplicate.png">
-        <param name="frame_id" value="main_camera_optical"/>
-        <param name="publish_rate" value="10"/>
-        <param name="camera_info_url" value="file://$(find aruco_pose)/test/camera_info.yaml" />
-    </node>
-
-    <node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager" required="true"/>
-
-    <node pkg="nodelet" clear_params="true" type="nodelet" name="aruco_detect" args="load aruco_pose/aruco_detect nodelet_manager" required="true">
-        <remap from="image_raw" to="main_camera/image_raw"/>
-        <remap from="camera_info" to="main_camera/camera_info"/>
-        <param name="length" value="0.33"/>
-        <param name="estimate_poses" value="true"/>
-        <param name="send_tf" value="true"/>
-        <param name="cornerRefinementMethod" value="1"/>
-    </node>
-
-	<param name="test_module" value="$(find aruco_pose)/test/duplicate.py"/>
-    <test test-name="aruco_pose_test" pkg="ros_pytest" type="ros_pytest_runner"/>
-</launch>

clover/CMakeLists.txt

@@ -46,14 +46,6 @@ find_package(OpenCV ${_opencv_version} REQUIRED
     imgproc
 )
 
-# Download GeographicLib datasets
-message(STATUS "Downloading GeographicLib datasets to ${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_SHARE_DESTINATION}")
-add_custom_target(download_geographiclib_datasets ALL
-  COMMAND geographiclib-get-geoids -p ${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_SHARE_DESTINATION}/GeographicLib egm96-5
-  COMMAND geographiclib-get-gravity -p ${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_SHARE_DESTINATION}/GeographicLib egm96
-  COMMAND geographiclib-get-magnetic -p ${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_SHARE_DESTINATION}/GeographicLib emm2015
-)
-
 ## System dependencies are found with CMake's conventions
 # find_package(Boost REQUIRED COMPONENTS system)
 

clover/launch/clover.launch

@@ -12,7 +12,7 @@
     <arg name="led" default="true"/>
     <arg name="blocks" default="false"/>
     <arg name="rc" default="false"/>
-    <arg name="force_init" default="true"/> <!-- force estimator to init by publishing zero pose -->
+    <arg name="force_init" value="true"/> <!-- force estimator to init by publishing zero pose -->
 
     <arg name="simulator" default="false"/> <!-- flag that we are operating on a simulated drone -->
 

clover/launch/mavros.launch

@@ -44,9 +44,6 @@
         <!-- remap rangefinder -->
         <remap from="mavros/distance_sensor/rangefinder_sub" to="$(arg distance_sensor_remap)" if="$(eval bool(distance_sensor_remap))"/>
 
-        <!-- path to find GoegraphicLib datasets -->
-        <env name="GEOGRAPHICLIB_DATA" value="$(eval env('CMAKE_PREFIX_PATH').split(':')[0] + '/share/GeographicLib')"/>
-
         <rosparam param="plugin_whitelist">
             - altitude
             - command

clover/test/basic.test

@@ -4,7 +4,6 @@
     <node pkg="mavros" type="mavros_node" name="mavros" required="true" output="screen">
         <param name="fcu_url" value="udp://@127.0.1:14557"/>
         <rosparam command="load" file="$(find clover)/launch/mavros_config.yaml"/>
-        <env name="GEOGRAPHICLIB_DATA" value="$(eval env('CMAKE_PREFIX_PATH').split(':')[0] + '/share/GeographicLib')"/>
     </node>
 
     <node name="visualization" pkg="mavros_extras" type="visualization" required="true">

clover/www/js/topics.js

@@ -40,7 +40,6 @@ function viewTopicsList() {
 let rosdistro;
 
 function viewTopic(topic) {
-	let counter = 0;
 	let index = '<a href=topics.html>Topics</a>';
 	title.innerHTML = `${index}: ${topic}`;
 	topicMessage.style.display = 'block';
@@ -52,11 +51,10 @@ function viewTopic(topic) {
 	});
 
 	new ROSLIB.Topic({ ros: ros, name: topic }).subscribe(function(msg) {
-		counter++;
 		document.title = topic;
 		if (mouseDown) return;
 
-		if (msg.header && msg.header.stamp) {
+		if (msg.header.stamp) {
 			if (params.date || params.offset) {
 				let date = new Date(msg.header.stamp.secs * 1e3 + msg.header.stamp.nsecs * 1e-6);
 				if (params.date) msg.header.date = date.toISOString();
@@ -64,8 +62,7 @@ function viewTopic(topic) {
 			}
 		}
 
-		let txt = `<div class=counter>${counter} received</div>${yamlStringify(msg)}`; // JSON.stringify(msg, null, 4);
-		topicMessage.innerHTML = txt;
+		topicMessage.innerHTML = yamlStringify(msg); // JSON.stringify(msg, null, 4);
 	});
 }
 

clover/www/topics.html

@@ -15,7 +15,6 @@
 				white-space: pre;
 				font-family: monospace;
 			}
-			.counter { color: #b9b9b9; margin-bottom: 1em; }
 			#topic-type { font-family: monospace; font-size: 0.5em; vertical-align: super; font-weight: normal; }
 			.topic { font-family: monospace; }
 			body.closed { background-color: rgb(207, 207, 207); }

clover_description/launch/spawn_drone.launch

@@ -10,8 +10,9 @@
     <arg name="gps" default="true"/>
     <!-- Use physics parameters from CAD programs -->
     <arg name="use_clover_physics" default="false"/>
+    <arg name="hitl" default="false"/>
 
-    <arg name="cmd" default="$(find xacro)/xacro $(find clover_description)/urdf/clover/clover4.xacro main_camera:=$(arg main_camera) rangefinder:=$(arg rangefinder) led:=$(arg led) gps:=$(arg gps) maintain_camera_rate:=$(arg maintain_camera_rate) use_clover_physics:=$(arg use_clover_physics)"/>
+    <arg name="cmd" default="$(find xacro)/xacro $(find clover_description)/urdf/clover/clover4.xacro main_camera:=$(arg main_camera) rangefinder:=$(arg rangefinder) led:=$(arg led) gps:=$(arg gps) maintain_camera_rate:=$(arg maintain_camera_rate) use_clover_physics:=$(arg use_clover_physics) hitl:=$(arg hitl)"/>
     <param command="$(arg cmd)" name="drone_description"/>
     <!-- Note: -package_to_model replaces all mentions of "package://" with "model://" in urdf URIs -->
     <node name="$(anon spawn)" output="screen" pkg="gazebo_ros" type="spawn_model" args="-urdf -param drone_description -model clover -z 0.3"/> 

clover_description/urdf/clover/clover4.xacro

@@ -7,6 +7,7 @@
   <xacro:arg name="gps" default="true"/>
   <xacro:arg name="maintain_camera_rate" default="false"/>
   <xacro:arg name="use_clover_physics" default="false"/>
+  <xacro:arg name="hitl" default="false"/>
 
   <xacro:include filename="clover4_base.xacro" />
   <xacro:include filename="../sensors/rpi_cam.urdf.xacro"/>

clover_description/urdf/clover/clover4_gazebo.xacro

@@ -53,14 +53,14 @@
       <mavlink_addr>INADDR_ANY</mavlink_addr>
       <mavlink_tcp_port>4560</mavlink_tcp_port>
       <mavlink_udp_port>14560</mavlink_udp_port>
-      <serialEnabled>false</serialEnabled>
+      <serialEnabled>$(arg hitl)</serialEnabled>
       <serialDevice>/dev/ttyACM0</serialDevice>
       <baudRate>921600</baudRate>
       <qgc_addr>INADDR_ANY</qgc_addr>
       <qgc_udp_port>14550</qgc_udp_port>
       <sdk_addr>INADDR_ANY</sdk_addr>
       <sdk_udp_port>14540</sdk_udp_port>
-      <hil_mode>false</hil_mode>
+      <hil_mode>$(arg hitl)</hil_mode>
       <hil_state_level>0</hil_state_level>
       <send_vision_estimation>0</send_vision_estimation>
       <send_odometry>1</send_odometry>

clover_simulation/launch/simulator.launch

@@ -1,5 +1,6 @@
 <launch>
     <arg name="type" default="gazebo"/> <!-- gazebo, jmavsim, none (only clover packages) -->
+    <arg name="mode" default="sitl"/> <!-- sitl or hitl -->
     <arg name="mav_id" default="0"/>
     <arg name="est" default="ekf2"/> <!-- PX4 estimator: lpe, ekf2 -->
     <arg name="vehicle" default="clover"/> <!-- PX4 vehicle configuration: clover, clover_vpe -->
@@ -21,7 +22,7 @@
     </include>
 
     <!-- PX4 instance -->
-    <node name="sitl_$(arg mav_id)" pkg="px4" type="px4" output="screen" required="true" args="$(find px4)/ROMFS/px4fmu_common -s etc/init.d-posix/rcS -i $(arg mav_id)" unless="$(eval type == 'none')">
+    <node name="sitl_$(arg mav_id)" pkg="px4" type="px4" output="screen" required="true" args="$(find px4)/ROMFS/px4fmu_common -s etc/init.d-posix/rcS -i $(arg mav_id)" unless="$(eval type == 'none' or mode == 'hitl')">
         <env name="PX4_SIM_MODEL" value="$(arg vehicle)"/>
         <env name="PX4_ESTIMATOR" value="$(arg est)"/>
     </node>
@@ -34,6 +35,7 @@
         <arg name="led" value="$(arg led)"/>
         <arg name="gps" value="$(arg gps)"/>
         <arg name="use_clover_physics" value="$(arg use_clover_physics)"/>
+        <arg name="hitl" value="$(eval mode == 'hitl')"/>
     </include>
 
     <node name="jmavsim" pkg="px4" required="true" type="jmavsim_run.sh" output="screen" if="$(eval type == 'jmavsim')">
@@ -45,7 +47,7 @@
     <!-- Clover services -->
     <include file="$(find clover)/launch/clover.launch">
         <arg name="simulator" value="true"/>
-        <arg name="fcu_conn" value="sitl"/>
+        <arg name="fcu_conn" value="$(arg mode)"/>
         <arg name="fcu_ip" value="127.0.0.1"/>
         <arg name="gcs_bridge" value=""/>
         <arg name="web_video_server" default="false" if="$(eval type == 'jmavsim')"/>