Testing and analysis...Continuous Integration How it works: CI Job Docker Container rostest PX4 SITL...
Transcript of Testing and analysis...Continuous Integration How it works: CI Job Docker Container rostest PX4 SITL...
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Testing and analysisPX4 SITL testing with ROS/Gazebo
Andreas Antener, www.uaventure.com
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Content
● Story● Test● Continuous Integration● Feedback● The Real Flight● Reproducibility● Conclusion
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Story
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Story
● Offboard control● Vertical takeoff to 10 meter AGL● Loiter
> Python script
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Continuous Integration
How it works:
CI Job Docker Container
rostest
PX4 SITL (Gazebo)
Test (rospy / roscpp)Results
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Feedback
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Feedback
● rosbag● Exported plots, examples:
○ Test 1○ CI test
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Limitations
Headless execution:● everything except OpenGL/GLX
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The Real Flight
?tuning?
GPS noise?
controller issue?
bad day?
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Reproducibility
● Fix for the real flight: use current heading in the setpoint
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Conclusion
● Comparable results for real and simulated flights
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Conclusion
● Testing high-level functionality● Regression testing● Fast prototyping of complex use-cases
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More Information
http://px4.io (search for "sitl")
Presentation content and example code:https://github.com/UAVenture/px4_sitl_ci_dronecode_talk
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Thanks
● Thomas Gubler● PX4 community● ASL ETH Zürich
www.uaventure.com