Integration Testing for the PX4 ROS 2 Interface Library

This topic outlines the integration tests for the PX4 ROS 2 Interface Library.

这些测试用于验证模式注册、故障保护（failsafes）和模式替换功能是否按预期工作。

CI Testing

向 PX4 提交拉取请求（pull request）时，持续集成（CI）会运行该库的集成测试 It builds the pull request's PX4 firmware and a matching ROS workspace, then runs the tests using SIH. SIH runs the physics simulation inside PX4 and does not require Gazebo Classic or Gazebo Harmonic.

Running Tests Locally

Follow Testing A PX4 Checkout With ROS to build px4_sitl_sih and a matching ROS workspace. Run the following commands from the PX4 repository root, inside the ROS development environment:

source /opt/px4_ros2_ci/install/setup.bash
./test/ros_test_runner.py

If you used another workspace location, source its install/setup.bash instead. The runner defaults to test/ros_tests/config-sih.json and build/px4_sitl_sih/, matching CI. The SIH configuration selects the quadx model for all three integration suites. SIH does not support the runner's --gui option.

And to run only a single case:

./test/ros_test_runner.py --verbose --case <case>

You can list the available test cases with:

./test/ros_test_runner.py --list-cases

Legacy Gazebo Classic Testing

For an existing Gazebo Classic setup, select both its configuration and firmware build directory explicitly:

./test/ros_test_runner.py \
  --config-file test/ros_tests/config.json \
  --build-dir build/px4_sitl_default/ \
  --model iris

This requires separately built Gazebo Classic plugins and matching ROS sources. The Gazebo Harmonic containers do not provide Gazebo Classic.