PX4开发指南-4.7.综合测试

Integration Testing

This is about end to end integration testing. Tests are executed automatically (Jenkins CI)

ROS / MAVROS Tests

• Prerequisites:

  • SITL Simulation
  • Gazebo
  • ROS and MAVROS

• Execute Tests

• To run the complete MAVROS test suite:

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

• Or with GUI to see what's happening:

 rostest px4 mavros_posix_tests_iris.launch gui:=true headless:=false

Write a new MAVROS test (Python)

Currently in early stages, more streamlined support for testing
(helper classes/methods etc.) to come.

1.) Create a new test script

• Test scripts are located in integrationtests/python_src/px4_it/mavros/ . See other existing scripts for examples. Also please consult the official ROS documentation on how to use unittest.

• Empty test skeleton:

#!/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 simulation
cd <Firmware_clone>
source integrationtests/setup_gazebo_ros.bash $(pwd)
roslaunch px4 mavros_posix_sitl.launch

# Run test (in a new shell):
cd <Firmware_clone>
source integrationtests/setup_gazebo_ros.bash $(pwd)
rosrun px4 mavros_new_test.py

3.) Add new test node to launch file

• In launch/mavros_posix_tests_irisl.launch add new entry in test group:

 <group ns="$(arg ns)">
    [...]
    <test test-name="mavros_new_test" pkg="px4" type="mavros_new_test.py" />
</group>

• Run the comlpete test suite as described above.