PX4 User Guide (v1.13)

# Integration Testing using ROS

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.

# Prerequisites:

# 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/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/ (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:

  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/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

  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

    For example:

    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.

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