集成测试
This topic explains how to run (and extend) PX4's ROS-based integration tests.
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.
ROS / MAVROS 测试
Execute Tests
To run the MAVROS tests:
sh
cd <Firmware_clone>
source integrationtests/setup_gazebo_ros.bash $(pwd)
rostest px4 mavros_posix_tests_iris.launch
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
rostest px4 mavros_posix_tests_iris.launch gui:=true headless:=false
在 launch/mavros_posix_tests_irisl.launch
中添加测试组中的新条目:
sh
./test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test
如上所述运行完整的测试套件。
sh
# 开始仿真
cd <Firmware_clone>
source integrationtests/setup_gazebo_ros.bash $(pwd)
roslaunch px4 mavros_posix_sitl.launch
# 运行测试(在新的 shell 中):
cd <Firmware_clone>
source integrationtests/setup_gazebo_ros.bash $(pwd)
rosrun px4 mavros_new_test.py
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/). The official ROS documentation also contains information on how to use unittest (on which this test suite is based).
To write a new test:
Create a new test script by copying the empty test skeleton below:
python#!/usr/bin/env python # [... LICENSE ...] # # @author Example Author <[email protected]> # 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)
Run the new test only
Start the simulator:
shcd <PX4-Autopilot_clone> source Tools/simulation/gazebo/setup_gazebo.bash roslaunch launch/mavros_posix_sitl.launch
Run test (in a new shell):
shcd <PX4-Autopilot_clone> source Tools/simulation/gazebo/setup_gazebo.bash rosrun px4 mavros_new_test.py
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
- In
(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:
shtests_<new_test_target_name>: rostest @"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_<new_test>.test
Run the tests as described above.