using Se3 for tests

ctu-mrs · Dec 17, 2023 · ecb47c3 · ecb47c3
1 parent 4d50cdb
commit ecb47c3
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diff --git a/test/service_fly_now/config/custom_config.yaml b/test/service_fly_now/config/custom_config.yaml
@@ -0,0 +1,24 @@
+# GET ALL PARAMETERS USABLE FOR CUSTOM CONFIG BY RUNNING:
+## --------------------------------------------------------------
+## |          rosrun mrs_uav_core get_public_params.py          #
+## --------------------------------------------------------------
+
+mrs_uav_managers:
+
+  estimation_manager:
+
+    # loaded state estimator plugins
+    state_estimators: [
+      "gps_garmin",
+    ]
+
+    initial_state_estimator: "gps_garmin" # will be used as the first state estimator
+    agl_height_estimator: "garmin_agl" # only slightly filtered height for checking min height (not used in control feedback)
+
+  uav_manager:
+
+    midair_activation:
+
+      after_activation:
+        controller: "Se3Controller"
+        tracker: "MpcTracker"
diff --git a/test/service_fly_now/service_fly_now.test b/test/service_fly_now/service_fly_now.test
@@ -24,6 +24,7 @@
   <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/$(arg UAV_TYPE).yaml" />
+    <arg name="custom_config" default="$(dirname)/config/custom_config.yaml" />
     <arg name="UAV_NAME" default="$(arg UAV_NAME)" />
   </include>
 

diff --git a/test/topic_fly_now/config/custom_config.yaml b/test/topic_fly_now/config/custom_config.yaml
@@ -0,0 +1,24 @@
+# GET ALL PARAMETERS USABLE FOR CUSTOM CONFIG BY RUNNING:
+## --------------------------------------------------------------
+## |          rosrun mrs_uav_core get_public_params.py          #
+## --------------------------------------------------------------
+
+mrs_uav_managers:
+
+  estimation_manager:
+
+    # loaded state estimator plugins
+    state_estimators: [
+      "gps_garmin",
+    ]
+
+    initial_state_estimator: "gps_garmin" # will be used as the first state estimator
+    agl_height_estimator: "garmin_agl" # only slightly filtered height for checking min height (not used in control feedback)
+
+  uav_manager:
+
+    midair_activation:
+
+      after_activation:
+        controller: "Se3Controller"
+        tracker: "MpcTracker"
diff --git a/test/topic_fly_now/topic_fly_now.test b/test/topic_fly_now/topic_fly_now.test
@@ -24,6 +24,7 @@
   <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/$(arg UAV_TYPE).yaml" />
+    <arg name="custom_config" default="$(dirname)/config/custom_config.yaml" />
     <arg name="UAV_NAME" default="$(arg UAV_NAME)" />
   </include>