mirror of
https://github.com/PX4/PX4-Autopilot.git
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docs: update integration tests (#24671)
* docs: update integration tests Updates for https://github.com/PX4/PX4-Autopilot/pull/22494. Transferred from https://github.com/PX4/PX4-user_guide/pull/2970. * Apply suggestions from code review * Update docs/en/test_and_ci/integration_testing_ros1_mavros.md --------- Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
This commit is contained in:
Beat Küng
GitHub
@@ -806,8 +806,10 @@
|
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- [Test MC_05 - Indoor Flight (Manual Modes)](test_cards/mc_05_indoor_flight_manual_modes.md)
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- [Unit Tests](test_and_ci/unit_tests.md)
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- [Continuous Integration](test_and_ci/continous_integration.md)
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- [MAVSDK Integration Testing](test_and_ci/integration_testing_mavsdk.md)
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- [ROS Integration Testing](test_and_ci/integration_testing.md)
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- [Integration Testing](test_and_ci/integration_testing.md)
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- [MAVSDK Integration Testing](test_and_ci/integration_testing_mavsdk.md)
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- [PX4 ROS2 Interface Library Integration Testing](test_and_ci/integration_testing_px4_ros2_interface.md)
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- [ROS 1 Integration Testing](test_and_ci/integration_testing_ros1_mavros.md)
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- [Docker Containers](test_and_ci/docker.md)
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- [Maintenance](test_and_ci/maintenance.md)
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- [Drone Apps & APIs](robotics/index.md)
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@@ -52,20 +52,4 @@ To get started using the library within an existing ROS 2 workspace:
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When opening a pull request to PX4, CI runs the library integration tests.
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These test that mode registration, failsafes, and mode replacement, work as expected.
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The tests can also be run locally from PX4:
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|
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```sh
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./test/ros_test_runner.py
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```
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And to run only a single case:
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```sh
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./test/ros_test_runner.py --verbose --case <case>
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```
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You can list the available test cases with:
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```sh
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./test/ros_test_runner.py --list-cases
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```
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For more information see [PX4 ROS2 Interface Library Integration Testing](../test_and_ci/integration_testing_px4_ros2_interface.md).
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@@ -153,9 +153,8 @@ make px4_sitl none_iris
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The simulation can be further configured via environment variables:
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- `PX4_ESTIMATOR`: This variable configures which estimator to use.
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Possible options are: `ekf2` (default), `lpe` (deprecated).
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It can be set via `export PX4_ESTIMATOR=lpe` before running the simulation.
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- Any of the [PX4 parameters](../advanced_config/parameter_reference.md) can be overridden via `export PX4_PARAM_{name}={value}`.
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For example changing the estimator: `export PX4_PARAM_EKF2_EN=0; export PX4_PARAM_ATT_EN=1`.
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The syntax described here is simplified, and there are many other options that you can configure via _make_ - for example, to set that you wish to connect to an IDE or debugger.
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For more information see: [Building the Code > PX4 Make Build Targets](../dev_setup/building_px4.md#px4-make-build-targets).
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@@ -8,7 +8,9 @@ Test topics include:
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- [Test Flights](../test_and_ci/test_flights.md) - How to make test flights (e.g. to [test PRs](../contribute/code.md#pull-requests))
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- [Unit Tests](../test_and_ci/unit_tests.md)
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- [Continuous Integration (CI)](../test_and_ci/continous_integration.md)
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- [ROS Integration Testing](../test_and_ci/integration_testing.md)
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- [MAVSDK Integration Testing](../test_and_ci/integration_testing_mavsdk.md)
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- [Integration Testing](../test_and_ci/integration_testing.md)
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- [MAVSDK Integration Testing](../test_and_ci/integration_testing_mavsdk.md)
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- [PX4 ROS2 Interface Library Integration Testing](../test_and_ci/integration_testing_px4_ros2_interface.md)
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- [ROS 1 Integration Testing](../test_and_ci/integration_testing_ros1_mavros.md) (Deprecated)
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- [Docker](../test_and_ci/docker.md)
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- [Maintenance](../test_and_ci/maintenance.md)
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@@ -1,152 +1,13 @@
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# Integration Testing using ROS
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# Integration Testing
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This topic explains how to run (and extend) PX4's ROS-based integration tests.
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Integration tests are used to verify how well larger parts of a system work together.
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In PX4 this generally means testing whole features of a vehicle, usually running in simulation.
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The tests are run in [Continuous Integration (CI)](../test_and_ci/continous_integration.md) on every pull request.
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::: info
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[MAVSDK Integration Testing](../test_and_ci/integration_testing_mavsdk.md) is preferred when writing new tests.
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Use the ROS-based integration test framework for use cases that _require_ ROS (e.g. object avoidance).
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- [MAVSDK Integration Testing](../test_and_ci/integration_testing_mavsdk.md) - MAVSDK-based test framework for PX4.
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_This is the recommended framework for writing new Integration tests_
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- [PX4 ROS2 Interface Library Integration Testing](../test_and_ci/integration_testing_px4_ros2_interface.md) - Integration Tests for the [PX4 ROS 2 Interface Library](../ros2/px4_ros2_interface_lib.md).
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All PX4 integraton tests are executed automatically by our [Continuous Integration](../test_and_ci/continous_integration.md) system.
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:::
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The following framework should only be used for tests that require ROS 1:
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## Prerequisites:
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- [jMAVSim Simulator](../sim_jmavsim/index.md)
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- [Gazebo Classic Simulator](../sim_gazebo_classic/index.md)
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- [ROS and MAVROS](../simulation/ros_interface.md)
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## Execute Tests
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To run the MAVROS tests:
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```sh
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source <catkin_ws>/devel/setup.bash
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cd <PX4-Autopilot_clone>
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make px4_sitl_default sitl_gazebo
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make <test_target>
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```
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`test_target` is a makefile targets from the set: _tests_mission_, _tests_mission_coverage_, _tests_offboard_ and _tests_avoidance_.
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Test can also be executed directly by running the test scripts, located under `test/`:
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```sh
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source <catkin_ws>/devel/setup.bash
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cd <PX4-Autopilot_clone>
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make px4_sitl_default sitl_gazebo
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./test/<test_bash_script> <test_launch_file>
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```
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For example:
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```sh
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./test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test
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```
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Tests can also be run with a GUI to see what's happening (by default the tests run "headless"):
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```sh
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./test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test gui:=true headless:=false
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```
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The **.test** files launch the corresponding Python tests defined in `integrationtests/python_src/px4_it/mavros/`
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## Write a New MAVROS Test (Python)
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This section explains how to write a new python test using ROS 1/MAVROS, test it, and add it to the PX4 test suite.
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We recommend you review the existing tests as examples/inspiration ([integrationtests/python_src/px4_it/mavros/](https://github.com/PX4/PX4-Autopilot/tree/main/integrationtests/python_src/px4_it/mavros)).
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The official ROS documentation also contains information on how to use [unittest](http://wiki.ros.org/unittest) (on which this test suite is based).
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To write a new test:
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1. Create a new test script by copying the empty test skeleton below:
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```python
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#!/usr/bin/env python
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# [... LICENSE ...]
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|
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#
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# @author Example Author <author@example.com>
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#
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PKG = 'px4'
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|
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import unittest
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import rospy
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import rosbag
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from sensor_msgs.msg import NavSatFix
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class MavrosNewTest(unittest.TestCase):
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"""
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Test description
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"""
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def setUp(self):
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rospy.init_node('test_node', anonymous=True)
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rospy.wait_for_service('mavros/cmd/arming', 30)
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rospy.Subscriber("mavros/global_position/global", NavSatFix, self.global_position_callback)
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self.rate = rospy.Rate(10) # 10hz
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self.has_global_pos = False
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def tearDown(self):
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pass
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#
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# General callback functions used in tests
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#
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def global_position_callback(self, data):
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self.has_global_pos = True
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def test_method(self):
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"""Test method description"""
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# FIXME: hack to wait for simulation to be ready
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while not self.has_global_pos:
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self.rate.sleep()
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# TODO: execute test
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if __name__ == '__main__':
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import rostest
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rostest.rosrun(PKG, 'mavros_new_test', MavrosNewTest)
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```
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1. Run the new test only
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|
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- Start the simulator:
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```sh
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cd <PX4-Autopilot_clone>
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source Tools/simulation/gazebo/setup_gazebo.bash
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roslaunch launch/mavros_posix_sitl.launch
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```
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- Run test (in a new shell):
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```sh
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cd <PX4-Autopilot_clone>
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source Tools/simulation/gazebo/setup_gazebo.bash
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rosrun px4 mavros_new_test.py
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```
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1. Add new test node to a launch file
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- In `test/` create a new `<test_name>.test` ROS launch file.
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- Call the test file using one of the base scripts _rostest_px4_run.sh_ or _rostest_avoidance_run.sh_
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1. (Optional) Create a new target in the Makefile
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- Open the Makefile
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- Search the _Testing_ section
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- Add a new target name and call the test
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For example:
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```sh
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tests_<new_test_target_name>: rostest
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@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_<new_test>.test
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```
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Run the tests as described above.
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- [ROS 1 Integration Testing](../test_and_ci/integration_testing_ros1_mavros.md) (Deprecated)
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@@ -7,6 +7,10 @@ In future we plan to generalise them for any platform/hardware.
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The instructions below explain how to setup and run the tests locally.
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:::note
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This is the recommended integration test framework for PX4.
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:::
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## Prerequisites
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### Setup Developer Environment
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@@ -47,21 +51,21 @@ To run all SITL tests as defined in [sitl.json](https://github.com/PX4/PX4-Autop
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test/mavsdk_tests/mavsdk_test_runner.py test/mavsdk_tests/configs/sitl.json --speed-factor 10
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```
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This will list all of the tests and then run them sequentially.
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This will list all the tests and then run them sequentially.
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To see all possible command line arguments use the `-h` argument:
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```sh
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test/mavsdk_tests/mavsdk_test_runner.py -h
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usage: mavsdk_test_runner.py [-h] [--log-dir LOG_DIR] [--speed-factor SPEED_FACTOR] [--iterations ITERATIONS] [--abort-early] [--gui] [--model MODEL]
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[--case CASE] [--debugger DEBUGGER] [--verbose]
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config_file
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usage: mavsdk_test_runner.py [-h] [--log-dir LOG_DIR] [--speed-factor SPEED_FACTOR] [--iterations ITERATIONS] [--abort-early]
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[--gui] [--model MODEL] [--case CASE] [--debugger DEBUGGER] [--upload] [--force-color]
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[--verbose] [--build-dir BUILD_DIR]
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|
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positional arguments:
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config_file JSON config file to use
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|
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optional arguments:
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options:
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-h, --help show this help message and exit
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--log-dir LOG_DIR Directory for log files
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--speed-factor SPEED_FACTOR
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@@ -71,9 +75,13 @@ optional arguments:
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--abort-early abort on first unsuccessful test
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--gui display the visualization for a simulation
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--model MODEL only run tests for one model
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--case CASE only run tests for one case
|
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--case CASE only run tests for one case (or multiple cases with wildcard '*')
|
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--debugger DEBUGGER choice from valgrind, callgrind, gdb, lldb
|
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--upload Upload logs to logs.px4.io
|
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--force-color Force colorized output
|
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--verbose enable more verbose output
|
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--build-dir BUILD_DIR
|
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relative path where the built files are stored
|
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```
|
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|
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## Run a Single Test
|
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|
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@@ -0,0 +1,29 @@
|
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# Integration Testing for the PX4 ROS 2 Interface Library
|
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|
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This topic outlines the integration tests for the [PX4 ROS 2 Interface Library](../ros2/px4_ros2_interface_lib.md).
|
||||
|
||||
These test that mode registration, failsafes, and mode replacement, work as expected.
|
||||
|
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## CI Testing
|
||||
|
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When opening a pull request to PX4, CI runs the library integration tests.
|
||||
|
||||
## Running Tests Locally
|
||||
|
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The tests can also be run locally from PX4:
|
||||
|
||||
```sh
|
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./test/ros_test_runner.py
|
||||
```
|
||||
|
||||
And to run only a single case:
|
||||
|
||||
```sh
|
||||
./test/ros_test_runner.py --verbose --case <case>
|
||||
```
|
||||
|
||||
You can list the available test cases with:
|
||||
|
||||
```sh
|
||||
./test/ros_test_runner.py --list-cases
|
||||
```
|
||||
154
docs/en/test_and_ci/integration_testing_ros1_mavros.md
Normal file
154
docs/en/test_and_ci/integration_testing_ros1_mavros.md
Normal file
@@ -0,0 +1,154 @@
|
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# Integration Testing using ROS 1
|
||||
|
||||
This topic explains how to run (and extend) PX4's ROS (1) and MAVROS -based integration tests.
|
||||
|
||||
:::warning This test framework is deprecated.
|
||||
It should be used only for new test cases that _require_ ROS 1.
|
||||
|
||||
[MAVSDK Integration Testing](../test_and_ci/integration_testing_mavsdk.md) is preferred when writing new tests.
|
||||
:::
|
||||
|
||||
:::note
|
||||
All PX4 integration tests are executed automatically by our [Continuous Integration](../test_and_ci/continous_integration.md) system.
|
||||
:::
|
||||
|
||||
## Prerequisites
|
||||
|
||||
- [Gazebo Classic Simulator](../sim_gazebo_classic/index.md)
|
||||
- [ROS and MAVROS](../simulation/ros_interface.md)
|
||||
|
||||
## Execute Tests
|
||||
|
||||
To run the MAVROS tests:
|
||||
|
||||
```sh
|
||||
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/`:
|
||||
|
||||
```sh
|
||||
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:
|
||||
|
||||
```sh
|
||||
./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"):
|
||||
|
||||
```sh
|
||||
./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/](https://github.com/PX4/PX4-Autopilot/tree/main/integrationtests/python_src/px4_it/mavros)).
|
||||
The official ROS documentation also contains information on how to use [unittest](http://wiki.ros.org/unittest) (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:
|
||||
|
||||
```python
|
||||
#!/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)
|
||||
```
|
||||
|
||||
1. Run the new test only
|
||||
|
||||
- Start the simulator:
|
||||
|
||||
```sh
|
||||
cd <PX4-Autopilot_clone>
|
||||
source Tools/simulation/gazebo/setup_gazebo.bash
|
||||
roslaunch launch/mavros_posix_sitl.launch
|
||||
```
|
||||
|
||||
- Run test (in a new shell):
|
||||
|
||||
```sh
|
||||
cd <PX4-Autopilot_clone>
|
||||
source Tools/simulation/gazebo/setup_gazebo.bash
|
||||
rosrun px4 mavros_new_test.py
|
||||
```
|
||||
|
||||
1. 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_
|
||||
|
||||
1. (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:
|
||||
|
||||
```sh
|
||||
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.
|
||||
Reference in New Issue
Block a user