updated tests, added print for setting the reference

src/control_manager/control_manager.cpp

@@ -5674,6 +5674,10 @@ std::tuple<bool, std::string> ControlManager::setReference(const mrs_msgs::Refer
   {
     std::scoped_lock lock(mutex_tracker_list_);
 
+    ROS_INFO("[ControlManager]: setting reference to x=%.2f, y=%.2f, z=%.2f, hdg=%.2f (expressed in '%s')", reference_request.reference.position.x,
+             reference_request.reference.position.y, reference_request.reference.position.z, reference_request.reference.heading,
+             transformed_reference.header.frame_id.c_str());
+
     tracker_response = tracker_list_.at(active_tracker_idx_)
                            ->setReference(mrs_msgs::ReferenceSrvRequest::ConstPtr(std::make_unique<mrs_msgs::ReferenceSrvRequest>(reference_request)));
 

test/control_manager/CMakeLists.txt

@@ -21,3 +21,7 @@ add_subdirectory(trajectory_topic)
 add_subdirectory(trajectory_start_stop_resume)
 
 add_subdirectory(velocity_reference_topic)
+
+add_subdirectory(set_heading_service)
+
+add_subdirectory(set_heading_relative_service)

test/control_manager/set_heading_relative_service/CMakeLists.txt

@@ -0,0 +1,16 @@
+get_filename_component(TEST_NAME "${CMAKE_CURRENT_SOURCE_DIR}" NAME)
+
+catkin_add_executable_with_gtest(test_${TEST_NAME}
+  test.cpp
+  )
+
+target_link_libraries(test_${TEST_NAME}
+  ${catkin_LIBRARIES}
+  )
+
+add_dependencies(test_${TEST_NAME}
+  ${${PROJECT_NAME}_EXPORTED_TARGETS}
+  ${catkin_EXPORTED_TARGETS}
+  )
+
+add_rostest(${TEST_NAME}.test)

test/control_manager/set_heading_relative_service/config/mrs_simulator.yaml

@@ -0,0 +1,10 @@
+individual_takeoff_platform:
+  enabled: true
+
+uav1:
+  type: "x500"
+  spawn:
+    x: 10.0
+    y: 20.0
+    z: 2.0
+    heading: 4.0

test/control_manager/set_heading_relative_service/set_heading_relative_service.test

@@ -0,0 +1,36 @@
+<launch>
+
+  <arg name="this_path" default="$(dirname)" />
+
+  <arg name="UAV_NAME" default="uav1" />
+  <arg name="UAV_TYPE" default="x500" />
+
+    <!-- automatically deduce the test name -->
+  <arg name="test_name" default="$(eval arg('this_path').split('/')[-1])" />
+
+    <!-- automatically deduce the package name -->
+  <arg name="import_eval" default="eval('_' + '_import_' + '_')"/>
+  <arg name="package_eval" default="eval(arg('import_eval') + '(\'rospkg\')').get_package_name(arg('this_path'))" />
+  <arg name="package" default="$(eval eval(arg('package_eval')))" />
+
+  <include file="$(find mrs_uav_testing)/launch/mrs_simulator.launch">
+    <arg name="UAV_NAME" default="$(arg UAV_NAME)" />
+    <arg name="custom_config" default="$(dirname)/config/mrs_simulator.yaml" />
+  </include>
+
+  <include file="$(find mrs_multirotor_simulator)/launch/hw_api.launch">
+    <arg name="UAV_NAME" default="$(arg UAV_NAME)" />
+  </include>
+
+  <include file="$(find mrs_uav_testing)/launch/mrs_uav_system.launch">
+    <arg name="automatic_start" default="false" />
+    <arg name="platform_config" default="$(find mrs_multirotor_simulator)/config/mrs_uav_system/$(arg UAV_TYPE).yaml" />
+    <arg name="UAV_NAME" default="$(arg UAV_NAME)" />
+  </include>
+
+  <test pkg="$(arg package)" type="test_$(arg test_name)" test-name="$(arg test_name)" time-limit="60.0">
+    <param name="test" value="$(arg test_name)" />
+    <param name="uav_name" value="$(arg UAV_NAME)" />
+  </test>
+
+</launch>

test/control_manager/set_heading_relative_service/test.cpp

@@ -0,0 +1,92 @@
+#include <gtest/gtest.h>
+
+#include <mrs_uav_testing/test_generic.h>
+
+class Tester : public mrs_uav_testing::TestGeneric {
+
+public:
+  bool test();
+};
+
+bool Tester::test() {
+
+  std::shared_ptr<mrs_uav_testing::UAVHandler> uh;
+
+  {
+    auto [uhopt, message] = getUAVHandler(_uav_name_);
+
+    if (!uhopt) {
+      ROS_ERROR("[%s]: Failed obtain handler for '%s': '%s'", ros::this_node::getName().c_str(), _uav_name_.c_str(), message.c_str());
+      return false;
+    }
+
+    uh = uhopt.value();
+  }
+
+  {
+    auto [success, message] = uh->activateMidAir();
+
+    if (!success) {
+      ROS_ERROR("[%s]: midair activation failed with message: '%s'", ros::this_node::getName().c_str(), message.c_str());
+      return false;
+    }
+  }
+
+  {
+    auto [success, message] = uh->setHeadingRelative(0.5);
+
+    if (!success) {
+      ROS_ERROR("[%s]: set heading relative failed with message: '%s'", ros::this_node::getName().c_str(), message.c_str());
+      return false;
+    }
+  }
+
+  {
+    auto [success, message] = uh->setHeadingRelative(3.14);
+
+    if (!success) {
+      ROS_ERROR("[%s]: set heading relative failed with message: '%s'", ros::this_node::getName().c_str(), message.c_str());
+      return false;
+    }
+  }
+
+  {
+    auto [success, message] = uh->setHeadingRelative(0);
+
+    if (!success) {
+      ROS_ERROR("[%s]: set heading relative failed with message: '%s'", ros::this_node::getName().c_str(), message.c_str());
+      return false;
+    }
+  }
+
+  this->sleep(5.0);
+
+  if (uh->isFlyingNormally()) {
+    return true;
+  } else {
+    ROS_ERROR("[%s]: not flying normally", ros::this_node::getName().c_str());
+    return false;
+  }
+}
+
+TEST(TESTSuite, test) {
+
+  Tester tester;
+
+  bool result = tester.test();
+
+  if (result) {
+    GTEST_SUCCEED();
+  } else {
+    GTEST_FAIL();
+  }
+}
+
+int main([[maybe_unused]] int argc, [[maybe_unused]] char** argv) {
+
+  ros::init(argc, argv, "test");
+
+  testing::InitGoogleTest(&argc, argv);
+
+  return RUN_ALL_TESTS();
+}

test/control_manager/set_heading_service/CMakeLists.txt

@@ -0,0 +1,16 @@
+get_filename_component(TEST_NAME "${CMAKE_CURRENT_SOURCE_DIR}" NAME)
+
+catkin_add_executable_with_gtest(test_${TEST_NAME}
+  test.cpp
+  )
+
+target_link_libraries(test_${TEST_NAME}
+  ${catkin_LIBRARIES}
+  )
+
+add_dependencies(test_${TEST_NAME}
+  ${${PROJECT_NAME}_EXPORTED_TARGETS}
+  ${catkin_EXPORTED_TARGETS}
+  )
+
+add_rostest(${TEST_NAME}.test)

test/control_manager/set_heading_service/set_heading_service.test

@@ -0,0 +1,35 @@
+<launch>
+
+  <arg name="this_path" default="$(dirname)" />
+
+  <arg name="UAV_NAME" default="uav1" />
+  <arg name="UAV_TYPE" default="x500" />
+
+    <!-- automatically deduce the test name -->
+  <arg name="test_name" default="$(eval arg('this_path').split('/')[-1])" />
+
+    <!-- automatically deduce the package name -->
+  <arg name="import_eval" default="eval('_' + '_import_' + '_')"/>
+  <arg name="package_eval" default="eval(arg('import_eval') + '(\'rospkg\')').get_package_name(arg('this_path'))" />
+  <arg name="package" default="$(eval eval(arg('package_eval')))" />
+
+  <include file="$(find mrs_uav_testing)/launch/mrs_simulator.launch">
+    <arg name="UAV_NAME" default="$(arg UAV_NAME)" />
+  </include>
+
+  <include file="$(find mrs_multirotor_simulator)/launch/hw_api.launch">
+    <arg name="UAV_NAME" default="$(arg UAV_NAME)" />
+  </include>
+
+  <include file="$(find mrs_uav_testing)/launch/mrs_uav_system.launch">
+    <arg name="automatic_start" default="false" />
+    <arg name="platform_config" default="$(find mrs_multirotor_simulator)/config/mrs_uav_system/$(arg UAV_TYPE).yaml" />
+    <arg name="UAV_NAME" default="$(arg UAV_NAME)" />
+  </include>
+
+  <test pkg="$(arg package)" type="test_$(arg test_name)" test-name="$(arg test_name)" time-limit="60.0">
+    <param name="test" value="$(arg test_name)" />
+    <param name="uav_name" value="$(arg UAV_NAME)" />
+  </test>
+
+</launch>

test/control_manager/set_heading_service/test.cpp

@@ -0,0 +1,101 @@
+#include <gtest/gtest.h>
+
+#include <mrs_uav_testing/test_generic.h>
+
+class Tester : public mrs_uav_testing::TestGeneric {
+
+public:
+  bool test();
+};
+
+bool Tester::test() {
+
+  std::shared_ptr<mrs_uav_testing::UAVHandler> uh;
+
+  {
+    auto [uhopt, message] = getUAVHandler(_uav_name_);
+
+    if (!uhopt) {
+      ROS_ERROR("[%s]: Failed obtain handler for '%s': '%s'", ros::this_node::getName().c_str(), _uav_name_.c_str(), message.c_str());
+      return false;
+    }
+
+    uh = uhopt.value();
+  }
+
+  {
+    auto [success, message] = uh->activateMidAir();
+
+    if (!success) {
+      ROS_ERROR("[%s]: midair activation failed with message: '%s'", ros::this_node::getName().c_str(), message.c_str());
+      return false;
+    }
+  }
+
+  {
+    auto [success, message] = uh->setHeading(0.5);
+
+    if (!success) {
+      ROS_ERROR("[%s]: set heading service failed with message: '%s'", ros::this_node::getName().c_str(), message.c_str());
+      return false;
+    }
+  }
+
+  {
+    auto [success, message] = uh->setHeading(-0.5);
+
+    if (!success) {
+      ROS_ERROR("[%s]: set heading service failed with message: '%s'", ros::this_node::getName().c_str(), message.c_str());
+      return false;
+    }
+  }
+
+  {
+    auto [success, message] = uh->setHeading(-3.14);
+
+    if (!success) {
+      ROS_ERROR("[%s]: set heading service failed with message: '%s'", ros::this_node::getName().c_str(), message.c_str());
+      return false;
+    }
+  }
+
+  {
+    auto [success, message] = uh->setHeading(0.0);
+
+    if (!success) {
+      ROS_ERROR("[%s]: set heading service failed with message: '%s'", ros::this_node::getName().c_str(), message.c_str());
+      return false;
+    }
+  }
+
+  this->sleep(5.0);
+
+  if (uh->isFlyingNormally()) {
+    return true;
+  } else {
+    ROS_ERROR("[%s]: not flying normally", ros::this_node::getName().c_str());
+    return false;
+  }
+}
+
+TEST(TESTSuite, test) {
+
+  Tester tester;
+
+  bool result = tester.test();
+
+  if (result) {
+    GTEST_SUCCEED();
+  } else {
+    GTEST_FAIL();
+  }
+}
+
+int main([[maybe_unused]] int argc, [[maybe_unused]] char** argv) {
+
+  ros::init(argc, argv, "test");
+
+  testing::InitGoogleTest(&argc, argv);
+
+  return RUN_ALL_TESTS();
+}