# 통합 테스트

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

Note

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.

# ROS / MAVROS 테스트

# Execute Tests

To run the MAVROS tests:

cd <PX4-Autopilot_clone>
source integrationtests/setup_gazebo_ros.bash $(pwd)
rostest px4 mavros_posix_tests_iris.launch

test / 아래에있는 테스트 스크립트를 실행하여 테스트를 직접 실행할 수도 있습니다.

예:

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

또는 GUI로 무슨 일이 일어나고 있는지 확인하십시오.

./test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test

.test 파일은 integrationtests/python_src/px4_it/mavros/에 정의된 해당 Python 테스트를 시작합니다.

./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/ (opens new window)). The official ROS documentation also contains information on how to use unittest (opens new window) (on which this test suite is based).

To write a new test:

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)

Run the new test only

Start the simulator:

cd <PX4-Autopilot_clone>
source Tools/setup_gazebo.bash
roslaunch launch/mavros_posix_sitl.launch

Run test (in a new shell):

cd <PX4-Autopilot_clone>
source Tools/setup_gazebo.bash
rosrun px4 mavros_new_test.py

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
(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/rostest_px4_run.sh mavros_posix_tests_<new_test>.test
```

예:

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