Hardware Tests

This runs hardware tests.

How to install

sudo apt install docker-compose
git clone https://github.com/DroneResponse/hardware-tests.git

How to build

This could take a few minuets. You need an Internet connection.

cd hardware-tests
docker-compose build

How to run tests

Start mavros

Start mavros in the background using one of the following approaches.

1. If using the Jetson and mavros connects to PX4 using /dev/ttyUSB0 then run:

   cd hardware-tests
   docker-compose -f docker-compose.yaml -f docker-compose.jetson.yaml up -d mavros

2. If using the Simulator, then run:

   cd hardware-tests
   docker-compose -f docker-compose.yaml -f docker-compose.simulator.yaml up -d mavros

   This configures mavros to use udp-b://:14540@14580 and it forwards the UDP packets to the container.

3. If using the Intel Aero:

   cd hardware-tests
   docker-compose -f docker-compose.yaml -f docker-compose.intel-aero.yaml up -d mavros

Run the tests

Next run one or more tests:

docker-compose run indoor_sensors
docker-compose run sensors
docker-compose run rc_failsafe
docker-compose run gimbal
docker-compose run arm
docker-compose run hover
docker-compose run box
docker-compose run geofence

Stop Mavros

When you're done, stop mavros:

docker-compose down

Old Readme

The rest of these docs are somewhat outdated now.

TODO: update everything after this line.

How to run tests

First, start mavros:

roslaunch dr_hardware_tests mavros.launch

Next run the hardware tests

rosrun dr_hardware_tests indoor_sensors.py
rosrun dr_hardware_tests sensors.py
rosrun dr_hardware_tests arm.py
rosrun dr_hardware_tests hover.py

Install PX4

Please download the latest stable release of PX4 (works with our project) using the following command:

git clone --recurse-submodules --branch v1.12.3 https://github.com/PX4/PX4-Autopilot.git

How to run tests connecting to a serial device

We are using docker to run the tests on a Jetson. Docker has been installed on the Jetson to be used for the first drone using this documentation. A docker image named test containing all the necessary packages and the code has also been built on that Jetson. Using that image, the code can be run using the following instructions:

In a terminal, we need to execute the following command to run the docker image and enter a docker container:

sudo docker run --rm -it --device=/dev/ttyUSB0 test

The terminal will enter the docker container's work directory which is catkin_ws. The terminal should show something similar to root@c5b2f3541681:/catkin_ws#. We need to copy the hostname. Then in a separate terminal, the follwing command needs to be executed:

sudo docker exec -it c5b2f3541681 bash

Then the second terminal will also enter the same docker container. /dev/ttyUSB0 test is used for serial USB connection. For other types of connection, this is a good reference. USB connection can be verified by this command:

ls /dev/ttyUSB*

To run the code, in the first temrinal, launch the mavros and ROS master using this command:

roslaunch dr_hardware_tests mavros.launch

The launch file is located under catkin_ws/src/dr_hardware_tests/launch/mavros.launch. The code has been tested using baudrate of 921600 following the instructions on this documentation. For any other baud rate, the following line in the launch file needs to be modified:

<arg name="fcu_url" default="/dev/ttyUSB0:921600"/>

In the second terminal, the tests can be run using these commands:

rosrun dr_hardware_tests indoor_sensors.py
rosrun dr_hardware_tests sensors.py
rosrun dr_hardware_tests arm.py
rosrun dr_hardware_tests hover.py
rosrun dr_hardware_tests box.py

If there are changes to the code in the repository, the following instructions can be followed to create a new docker image.

The Dockerfile is copying a work directory named catkin_ws which is on the Jetson's home directory. In catkin/src/dr_hardware_tests, the code needs to be updated. The easiest way to do it is to delete the old dr_hardware_tests directory, copy the hardware-tests directory and rename it to dr_hardware_tests. Then the followng commands can be used to build the new image.

sudo docker build .

After successculd build, the image will have an id similar to c5b2f3541681. For ease of use, we can tag it to something (e.g. test) using this command:

sudo docker tag c5b2f3541681 test

If the change needs to be made is minor, an easier way is to change the code inside the docker container. This will require the change to be made every time the docker image is run. The change can be made using vim editor which is installed in the container. So the launch file can be edited by navigating to catkin_ws/src/dr_hardware_tests/launch/ and then running:

sudo vim mavros.launch

Install MQTT

Install the mosquitto MQTT broker on the Jetpack on Jetson (Not on docker).

sudo apt-get install mosquitto
sudo apt-get install mosquitto-clients