测试和持续集成 - 综合测试

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

ROS / MAVROS Tests

Prerequisites:

• JMAVSim 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)

Note 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.