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Integration Testing using ROS

This topic explains how to run (and extend) PX4's ROS-based integration tests.


MAVSDK Integration Testing is preferred when writing new tests. Use the ROS-based integration test framework for use cases that require ROS (e.g. object avoidance).

All PX4 integraton tests are executed automatically by our Continuous Integration system.


Execute Tests

To run the MAVROS tests:

source <catkin_ws>/devel/setup.bash
cd <PX4-Autopilot_clone>
make px4_sitl_default sitl_gazebo
make <test_target>

test_target is a makefile targets from the set: tests_mission, tests_mission_coverage, tests_offboard and tests_avoidance.

Test can also be executed directly by running the test scripts, located under test/:

source <catkin_ws>/devel/setup.bash
cd <PX4-Autopilot_clone>
make px4_sitl_default sitl_gazebo
./test/<test_bash_script> <test_launch_file>

For example:

./test/ mavros_posix_tests_offboard_posctl.test

Tests can also be run with a GUI to see what's happening (by default the tests run "headless"):

./test/ mavros_posix_tests_offboard_posctl.test gui:=true headless:=false

The .test files launch the corresponding Python tests defined in integrationtests/python_src/px4_it/mavros/

Write a New MAVROS Test (Python)

This section explains how to write a new python test using ROS 1/MAVROS, test it, and add it to the PX4 test suite.

We recommend you review the existing tests as examples/inspiration (integrationtests/python_src/px4_it/mavros/). The official ROS documentation also contains information on how to use unittest (on which this test suite is based).

To write a new test:

  1. Create a new test script by copying the empty test skeleton below:

    #!/usr/bin/env python
    # [... LICENSE ...]
    # @author Example Author <>
    PKG = 'px4'
    import unittest
    import rospy
    import rosbag
    from sensor_msgs.msg import NavSatFix
    class MavrosNewTest(unittest.TestCase):
    	Test description
    	def setUp(self):
    		rospy.init_node('test_node', anonymous=True)
    		rospy.wait_for_service('mavros/cmd/arming', 30)
    		rospy.Subscriber("mavros/global_position/global", NavSatFix, self.global_position_callback)
    		self.rate = rospy.Rate(10) # 10hz
    		self.has_global_pos = False
    	def tearDown(self):
    	# General callback functions used in tests
    	def global_position_callback(self, data):
    		self.has_global_pos = True
    	def test_method(self):
    		"""Test method description"""
    		# FIXME: hack to wait for simulation to be ready
    		while not self.has_global_pos:
    		# TODO: execute test
    if __name__ == '__main__':
    	import rostest
    	rostest.rosrun(PKG, 'mavros_new_test', MavrosNewTest)
  2. Run the new test only

    • Start the simulator:

      cd <PX4-Autopilot_clone>
      source Tools/simulation/gazebo/setup_gazebo.bash
      roslaunch launch/mavros_posix_sitl.launch
    • Run test (in a new shell):

      cd <PX4-Autopilot_clone>
      source Tools/simulation/gazebo/setup_gazebo.bash
      rosrun px4
  3. Add new test node to a launch file

    • In test/ create a new <test_name>.test ROS launch file.
    • Call the test file using one of the base scripts or
  4. (Optional) Create a new target in the Makefile

    • Open the Makefile
    • Search the Testing section
    • Add a new target name and call the test

    For example:

    tests_<new_test_target_name>: rostest
    	@"$(SRC_DIR)"/test/ mavros_posix_tests_<new_test>.test

Run the tests as described above.