Integration Testing using ROS 1

This topic explains how to run (and extend) PX4's ROS (1) and MAVROS -based integration tests.

WARNING

This test framework is deprecated. It should be used only for new test cases that require ROS 1.

MAVSDK Integration Testing is preferred when writing new tests.

:::note All PX4 integration tests are executed automatically by our Continuous Integration system. :::

준비 사항

• Gazebo Classic Simulator
• ROS and MAVROS

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>

예:

./test/rostest_px4_run.sh 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/rostest_px4_run.sh 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 <author@example.com>
   #
   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):
   		pass
   
   	#
   	# 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:
   			self.rate.sleep()
   
   		# 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 mavros_new_test.py

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 rostest_px4_run.sh or rostest_avoidance_run.sh

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

   예:

   tests_<new_test_target_name>: rostest
   	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_<new_test>.test

Run the tests as described above.