updated mavros IT scripts, copy more data after the test

integrationtests/demo_tests/mavros_offboard_attctl_test.py

@@ -48,13 +48,13 @@ from tf.transformations import quaternion_from_euler
 from mavros_msgs.srv import CommandLong
 #from px4_test_helper import PX4TestHelper
 
-#
-# Tests flying a path in offboard control by sending attitude and thrust setpoints
-# over MAVROS.
-#
-# For the test to be successful it needs to cross a certain boundary in time.
-#
 class MavrosOffboardAttctlTest(unittest.TestCase):
+    """
+    Tests flying in offboard control by sending attitude and thrust setpoints
+    via MAVROS.
+
+    For the test to be successful it needs to cross a certain boundary in time.
+    """
 
     def setUp(self):
         rospy.init_node('test_node', anonymous=True)
@@ -82,10 +82,9 @@ class MavrosOffboardAttctlTest(unittest.TestCase):
         self.has_pos = True
         self.local_position = data
 
-    #
-    # Test offboard position control
-    #
     def test_attctl(self):
+        """Test offboard attitude control"""
+
         # set some attitude and thrust
         att = PoseStamped()
         att.header = Header()
@@ -95,7 +94,7 @@ class MavrosOffboardAttctlTest(unittest.TestCase):
         att.pose.orientation = Quaternion(*quaternion)
 
         throttle = Float64()
-        throttle.data = 0.6
+        throttle.data = 0.8
         armed = False
 
         # does it cross expected boundaries in X seconds?
@@ -112,7 +111,8 @@ class MavrosOffboardAttctlTest(unittest.TestCase):
             self.rate.sleep()
 
             # arm and switch to offboard
-            if not armed:
+            # (need to wait the first few rounds until PX4 has the offboard stream)
+            if not armed and count > 5:
                 self._srv_cmd_long(False, 176, False,
                                    128 | 1, 6, 0, 0, 0, 0, 0)
                 armed = True

integrationtests/demo_tests/mavros_offboard_posctl_test.py

@@ -48,16 +48,17 @@ import numpy as np
 from std_msgs.msg import Header
 from geometry_msgs.msg import PoseStamped, Quaternion
 from tf.transformations import quaternion_from_euler
+from mavros_msgs.srv import CommandLong
 #from px4_test_helper import PX4TestHelper
 
-#
-# Tests flying a path in offboard control by sending position setpoints
-# over MAVROS.
-#
-# For the test to be successful it needs to reach all setpoints in a certain time.
-# FIXME: add flight path assertion (needs transformation from ROS frame to NED)
-#
 class MavrosOffboardPosctlTest(unittest.TestCase):
+    """
+    Tests flying a path in offboard control by sending position setpoints
+    via MAVROS.
+
+    For the test to be successful it needs to reach all setpoints in a certain time.
+    FIXME: add flight path assertion (needs transformation from ROS frame to NED)
+    """
 
     def setUp(self):
         rospy.init_node('test_node', anonymous=True)
@@ -66,9 +67,12 @@ class MavrosOffboardPosctlTest(unittest.TestCase):
 
         rospy.Subscriber("mavros/local_position/pose", PoseStamped, self.position_callback)
         self.pub_spt = rospy.Publisher('mavros/setpoint_position/local', PoseStamped, queue_size=10)
+        rospy.wait_for_service('mavros/cmd/command', 30)
+        self._srv_cmd_long = rospy.ServiceProxy('mavros/cmd/command', CommandLong, persistent=True)
         self.rate = rospy.Rate(10) # 10hz
         self.has_pos = False
         self.local_position = PoseStamped()
+        self.armed = False
 
     def tearDown(self):
         #self.helper.tearDown()
@@ -90,9 +94,9 @@ class MavrosOffboardPosctlTest(unittest.TestCase):
             return False
 
         rospy.logdebug("current position %f, %f, %f" %
-                        (self.local_position.pose.position.x,
+                       (self.local_position.pose.position.x,
-                        self.local_position.pose.position.y,
+                       self.local_position.pose.position.y,
-                        self.local_position.pose.position.z))
+                       self.local_position.pose.position.z))
 
         desired = np.array((x, y, z))
         pos = np.array((self.local_position.pose.position.x,
@@ -123,6 +127,13 @@ class MavrosOffboardPosctlTest(unittest.TestCase):
             self.pub_spt.publish(pos)
             #self.helper.bag_write('mavros/setpoint_position/local', pos)
 
+            # arm and switch to offboard
+            # (need to wait the first few rounds until PX4 has the offboard stream)
+            if not self.armed and count > 5:
+                self._srv_cmd_long(False, 176, False,
+                                   128 | 1, 6, 0, 0, 0, 0, 0)
+                self.armed = True
+
             if self.is_at_position(pos.pose.position.x, pos.pose.position.y, pos.pose.position.z, 0.5):
                 break
             count = count + 1
@@ -130,11 +141,9 @@ class MavrosOffboardPosctlTest(unittest.TestCase):
 
         self.assertTrue(count < timeout, "took too long to get to position")
 
-    #
-    # Test offboard position control
-    #
     def test_posctl(self):
-        # prepare flight path
+        """Test offboard position control"""
+
         positions = (
             (0, 0, 0),
             (2, 2, 2),
@@ -143,7 +152,7 @@ class MavrosOffboardPosctlTest(unittest.TestCase):
             (2, 2, 2))
 
         for i in range(0, len(positions)):
-            self.reach_position(positions[i][0], positions[i][1], positions[i][2], 120)
+            self.reach_position(positions[i][0], positions[i][1], positions[i][2], 180)
 
         count = 0
         timeout = 50

integrationtests/demo_tests/mavros_tests_posix.launch

@@ -20,7 +20,7 @@
     </include>
 
     <group ns="$(arg ns)">
-        <test test-name="mavros_offboard_posctl_test" pkg="px4" type="mavros_offboard_posctl_test.py" />
+        <test test-name="mavros_offboard_posctl_test" pkg="px4" type="mavros_offboard_posctl_test.py" time-limit="120.0" />
         <test test-name="mavros_offboard_attctl_test" pkg="px4" type="mavros_offboard_attctl_test.py" />
     </group>
 </launch>

integrationtests/run-tests.bash

@@ -6,8 +6,11 @@
 set -e
 
 SRC_DIR=/root/Firmware
+BUILD=posix_sitl_default
 # TODO
-TEST_RESULT_DIR=/root/.ros/test_results/px4
+ROS_TEST_RESULT_DIR=/root/.ros/test_results/px4
+ROS_LOG_DIR=/root/.ros/log
+PX4_LOG_DIR=${SRC_DIR}/build_${BUILD}/src/firmware/posix/rootfs/fs/microsd/log
 TEST_RESULT_TARGET_DIR=/job/test_results
 # BAGS=/root/.ros
 # CHARTS=/root/.ros/charts
@@ -33,7 +36,7 @@ ln -s /job/Firmware ${SRC_DIR}
 
 echo "=====> compile"
 cd $SRC_DIR
-make posix_sitl_default
+make ${BUILD}
 mkdir -p Tools/sitl_gazebo/Build
 cd Tools/sitl_gazebo/Build
 cmake -Wno-dev ..
@@ -58,7 +61,9 @@ echo "=====> process test results"
 
 echo "copy build test results to job directory"
 mkdir -p ${TEST_RESULT_TARGET_DIR}
-cp -r $TEST_RESULT_DIR/* ${TEST_RESULT_TARGET_DIR}
+cp -r $ROS_TEST_RESULT_DIR/* ${TEST_RESULT_TARGET_DIR}
+cp -r $ROS_LOG_DIR/* ${TEST_RESULT_TARGET_DIR}
+cp -r $PX4_LOG_DIR/* ${TEST_RESULT_TARGET_DIR}
 # cp $BAGS/*.bag ${TEST_RESULT_TARGET_DIR}/
 # cp -r $CHARTS ${TEST_RESULT_TARGET_DIR}/
 echo "<====="