From 0e80210f33466e32b00ec4c0912678202f11e9ac Mon Sep 17 00:00:00 2001
From: Anthony Lamping <lamping.ap@gmail.com>
Date: Wed, 2 May 2018 09:47:12 -0400
Subject: [PATCH] cmake: package px4 with sitl_gazebo plugins for jenkins ROS
tests
---
Jenkinsfile | 148 +++++++++++++++++++++------------
platforms/posix/CMakeLists.txt | 77 ++++++++++++++++-
2 files changed, 168 insertions(+), 57 deletions(-)
diff --git a/Jenkinsfile b/Jenkinsfile
index 256d655b35..24eb2133d7 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -77,6 +77,28 @@ pipeline {
builds["eagle (linux)"] = createBuildNodeDockerLogin(docker_snapdragon, 'docker_hub_dagar', 'posix_eagle_default')
builds["eagle (qurt)"] = createBuildNodeDockerLogin(docker_snapdragon, 'docker_hub_dagar', 'qurt_eagle_default')
+ // posix_sitl_default with package
+ builds["sitl"] = {
+ node {
+ stage("Build Test sitl") {
+ docker.image(docker_ros).inside('-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE') {
+ stage("sitl") {
+ checkout scm
+ sh "export"
+ sh "make distclean"
+ sh "ccache -z"
+ sh "make posix_sitl_default"
+ sh "ccache -s"
+ sh "make posix_sitl_default sitl_gazebo"
+ sh "make posix_sitl_default package"
+ stash name: "px4_sitl_package", includes: "build/posix_sitl_default/*.zip"
+ sh "make distclean"
+ }
+ }
+ }
+ }
+ }
+
// MAC OS posix_sitl_default
builds["sitl (OSX)"] = {
node("mac") {
@@ -286,15 +308,17 @@ pipeline {
steps {
sh 'export'
sh 'make distclean; rm -rf .ros; rm -rf .gazebo'
- sh 'git fetch --tags'
- sh 'make posix_sitl_default'
- sh 'make posix_sitl_default sitl_gazebo'
- sh './test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_new_1 vehicle:=standard_vtol'
- sh './Tools/ecl_ekf/process_logdata_ekf.py `find . -name *.ulg -print -quit`'
+ unstash 'px4_sitl_package'
+ sh 'unzip build/posix_sitl_default/px4-posix_sitl_default*.zip'
+ sh 'mv px4-posix_sitl_default*/bin/px4 px4-posix_sitl_default*/share/px4/'
+ sh 'chmod +x px4-posix_sitl_default*/share/px4/px4'
+ sh 'chmod +x px4-posix_sitl_default*/share/px4/integrationtests/python_src/px4_it/mavros/mission_test.py'
+ sh 'bash px4-posix_sitl_default*/share/px4/test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_new_1 vehicle:=standard_vtol'
+ sh 'python px4-posix_sitl_default*/share/px4/Tools/ecl_ekf/process_logdata_ekf.py `find . -name *.ulg -print -quit`'
}
post {
always {
- sh './Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
+ sh 'python px4-posix_sitl_default*/share/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
archiveArtifacts '.ros/**/*.pdf'
archiveArtifacts '.ros/**/*.csv'
sh 'make distclean'
@@ -317,15 +341,17 @@ pipeline {
steps {
sh 'export'
sh 'make distclean; rm -rf .ros; rm -rf .gazebo'
- sh 'git fetch --tags'
- sh 'make posix_sitl_default'
- sh 'make posix_sitl_default sitl_gazebo'
- sh './test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_new_1 vehicle:=tailsitter'
- sh './Tools/ecl_ekf/process_logdata_ekf.py `find . -name *.ulg -print -quit`'
+ unstash 'px4_sitl_package'
+ sh 'unzip build/posix_sitl_default/px4-posix_sitl_default*.zip'
+ sh 'mv px4-posix_sitl_default*/bin/px4 px4-posix_sitl_default*/share/px4/'
+ sh 'chmod +x px4-posix_sitl_default*/share/px4/px4'
+ sh 'chmod +x px4-posix_sitl_default*/share/px4/integrationtests/python_src/px4_it/mavros/mission_test.py'
+ sh 'bash px4-posix_sitl_default*/share/px4/test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_new_1 vehicle:=tailsitter'
+ sh 'python px4-posix_sitl_default*/share/px4/Tools/ecl_ekf/process_logdata_ekf.py `find . -name *.ulg -print -quit`'
}
post {
always {
- sh './Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
+ sh 'python px4-posix_sitl_default*/share/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
archiveArtifacts '.ros/**/*.pdf'
archiveArtifacts '.ros/**/*.csv'
sh 'make distclean'
@@ -348,15 +374,17 @@ pipeline {
steps {
sh 'export'
sh 'make distclean; rm -rf .ros; rm -rf .gazebo'
- sh 'git fetch --tags'
- sh 'make posix_sitl_default'
- sh 'make posix_sitl_default sitl_gazebo'
- sh './test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_new_1 vehicle:=tiltrotor'
- sh './Tools/ecl_ekf/process_logdata_ekf.py `find . -name *.ulg -print -quit`'
+ unstash 'px4_sitl_package'
+ sh 'unzip build/posix_sitl_default/px4-posix_sitl_default*.zip'
+ sh 'mv px4-posix_sitl_default*/bin/px4 px4-posix_sitl_default*/share/px4/'
+ sh 'chmod +x px4-posix_sitl_default*/share/px4/px4'
+ sh 'chmod +x px4-posix_sitl_default*/share/px4/integrationtests/python_src/px4_it/mavros/mission_test.py'
+ sh 'bash px4-posix_sitl_default*/share/px4/test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_new_1 vehicle:=tiltrotor'
+ sh 'python px4-posix_sitl_default*/share/px4/Tools/ecl_ekf/process_logdata_ekf.py `find . -name *.ulg -print -quit`'
}
post {
always {
- sh './Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
+ sh 'python px4-posix_sitl_default*/share/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
archiveArtifacts '.ros/**/*.pdf'
archiveArtifacts '.ros/**/*.csv'
sh 'make distclean'
@@ -379,15 +407,17 @@ pipeline {
steps {
sh 'export'
sh 'make distclean; rm -rf .ros; rm -rf .gazebo'
- sh 'git fetch --tags'
- sh 'make posix_sitl_default'
- sh 'make posix_sitl_default sitl_gazebo'
- sh './test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_new_2 vehicle:=standard_vtol'
- sh './Tools/ecl_ekf/process_logdata_ekf.py `find . -name *.ulg -print -quit`'
+ unstash 'px4_sitl_package'
+ sh 'unzip build/posix_sitl_default/px4-posix_sitl_default*.zip'
+ sh 'mv px4-posix_sitl_default*/bin/px4 px4-posix_sitl_default*/share/px4/'
+ sh 'chmod +x px4-posix_sitl_default*/share/px4/px4'
+ sh 'chmod +x px4-posix_sitl_default*/share/px4/integrationtests/python_src/px4_it/mavros/mission_test.py'
+ sh 'bash px4-posix_sitl_default*/share/px4/test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_new_2 vehicle:=standard_vtol'
+ sh 'python px4-posix_sitl_default*/share/px4/Tools/ecl_ekf/process_logdata_ekf.py `find . -name *.ulg -print -quit`'
}
post {
always {
- sh './Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
+ sh 'python px4-posix_sitl_default*/share/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
archiveArtifacts '.ros/**/*.pdf'
archiveArtifacts '.ros/**/*.csv'
sh 'make distclean'
@@ -410,15 +440,17 @@ pipeline {
steps {
sh 'export'
sh 'make distclean; rm -rf .ros; rm -rf .gazebo'
- sh 'git fetch --tags'
- sh 'make posix_sitl_default'
- sh 'make posix_sitl_default sitl_gazebo'
- sh './test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_old_1 vehicle:=standard_vtol'
- sh './Tools/ecl_ekf/process_logdata_ekf.py `find . -name *.ulg -print -quit`'
+ unstash 'px4_sitl_package'
+ sh 'unzip build/posix_sitl_default/px4-posix_sitl_default*.zip'
+ sh 'mv px4-posix_sitl_default*/bin/px4 px4-posix_sitl_default*/share/px4/'
+ sh 'chmod +x px4-posix_sitl_default*/share/px4/px4'
+ sh 'chmod +x px4-posix_sitl_default*/share/px4/integrationtests/python_src/px4_it/mavros/mission_test.py'
+ sh 'bash px4-posix_sitl_default*/share/px4/test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_old_1 vehicle:=standard_vtol'
+ sh 'python px4-posix_sitl_default*/share/px4/Tools/ecl_ekf/process_logdata_ekf.py `find . -name *.ulg -print -quit`'
}
post {
always {
- sh './Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
+ sh 'python px4-posix_sitl_default*/share/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
archiveArtifacts '.ros/**/*.pdf'
archiveArtifacts '.ros/**/*.csv'
sh 'make distclean'
@@ -441,15 +473,17 @@ pipeline {
steps {
sh 'export'
sh 'make distclean; rm -rf .ros; rm -rf .gazebo'
- sh 'git fetch --tags'
- sh 'make posix_sitl_default'
- sh 'make posix_sitl_default sitl_gazebo'
- sh './test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_old_2 vehicle:=standard_vtol'
- sh './Tools/ecl_ekf/process_logdata_ekf.py `find . -name *.ulg -print -quit`'
+ unstash 'px4_sitl_package'
+ sh 'unzip build/posix_sitl_default/px4-posix_sitl_default*.zip'
+ sh 'mv px4-posix_sitl_default*/bin/px4 px4-posix_sitl_default*/share/px4/'
+ sh 'chmod +x px4-posix_sitl_default*/share/px4/px4'
+ sh 'chmod +x px4-posix_sitl_default*/share/px4/integrationtests/python_src/px4_it/mavros/mission_test.py'
+ sh 'bash px4-posix_sitl_default*/share/px4/test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_old_2 vehicle:=standard_vtol'
+ sh 'python px4-posix_sitl_default*/share/px4/Tools/ecl_ekf/process_logdata_ekf.py `find . -name *.ulg -print -quit`'
}
post {
always {
- sh './Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
+ sh 'python px4-posix_sitl_default*/share/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
archiveArtifacts '.ros/**/*.pdf'
archiveArtifacts '.ros/**/*.csv'
sh 'make distclean'
@@ -472,15 +506,17 @@ pipeline {
steps {
sh 'export'
sh 'make distclean; rm -rf .ros; rm -rf .gazebo'
- sh 'git fetch --tags'
- sh 'make posix_sitl_default'
- sh 'make posix_sitl_default sitl_gazebo'
- sh './test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=multirotor_box vehicle:=iris'
- sh './Tools/ecl_ekf/process_logdata_ekf.py `find . -name *.ulg -print -quit`'
+ unstash 'px4_sitl_package'
+ sh 'unzip build/posix_sitl_default/px4-posix_sitl_default*.zip'
+ sh 'mv px4-posix_sitl_default*/bin/px4 px4-posix_sitl_default*/share/px4/'
+ sh 'chmod +x px4-posix_sitl_default*/share/px4/px4'
+ sh 'chmod +x px4-posix_sitl_default*/share/px4/integrationtests/python_src/px4_it/mavros/mission_test.py'
+ sh 'bash px4-posix_sitl_default*/share/px4/test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=multirotor_box vehicle:=iris'
+ sh 'python px4-posix_sitl_default*/share/px4/Tools/ecl_ekf/process_logdata_ekf.py `find . -name *.ulg -print -quit`'
}
post {
always {
- sh './Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
+ sh 'python px4-posix_sitl_default*/share/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
archiveArtifacts '.ros/**/*.pdf'
archiveArtifacts '.ros/**/*.csv'
sh 'make distclean'
@@ -503,15 +539,17 @@ pipeline {
steps {
sh 'export'
sh 'make distclean; rm -rf .ros; rm -rf .gazebo'
- sh 'git fetch --tags'
- sh 'make posix_sitl_default'
- sh 'make posix_sitl_default sitl_gazebo'
- sh './test/rostest_px4_run.sh mavros_posix_tests_offboard_attctl.test'
- sh './Tools/ecl_ekf/process_logdata_ekf.py `find . -name *.ulg -print -quit`'
+ unstash 'px4_sitl_package'
+ sh 'unzip build/posix_sitl_default/px4-posix_sitl_default*.zip'
+ sh 'mv px4-posix_sitl_default*/bin/px4 px4-posix_sitl_default*/share/px4/'
+ sh 'chmod +x px4-posix_sitl_default*/share/px4/px4'
+ sh 'chmod +x px4-posix_sitl_default*/share/px4/integrationtests/python_src/px4_it/mavros/mavros_offboard_attctl_test.py'
+ sh 'bash px4-posix_sitl_default*/share/px4/test/rostest_px4_run.sh mavros_posix_tests_offboard_attctl.test'
+ sh 'python px4-posix_sitl_default*/share/px4/Tools/ecl_ekf/process_logdata_ekf.py `find . -name *.ulg -print -quit`'
}
post {
always {
- sh './Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
+ sh 'python px4-posix_sitl_default*/share/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
archiveArtifacts '.ros/**/*.pdf'
archiveArtifacts '.ros/**/*.csv'
sh 'make distclean'
@@ -534,15 +572,17 @@ pipeline {
steps {
sh 'export'
sh 'make distclean; rm -rf .ros; rm -rf .gazebo'
- sh 'git fetch --tags'
- sh 'make posix_sitl_default'
- sh 'make posix_sitl_default sitl_gazebo'
- sh './test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test'
- sh './Tools/ecl_ekf/process_logdata_ekf.py `find . -name *.ulg -print -quit`'
+ unstash 'px4_sitl_package'
+ sh 'unzip build/posix_sitl_default/px4-posix_sitl_default*.zip'
+ sh 'mv px4-posix_sitl_default*/bin/px4 px4-posix_sitl_default*/share/px4/'
+ sh 'chmod +x px4-posix_sitl_default*/share/px4/px4'
+ sh 'chmod +x px4-posix_sitl_default*/share/px4/integrationtests/python_src/px4_it/mavros/mavros_offboard_posctl_test.py'
+ sh 'bash px4-posix_sitl_default*/share/px4/test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test'
+ sh 'python px4-posix_sitl_default*/share/px4/Tools/ecl_ekf/process_logdata_ekf.py `find . -name *.ulg -print -quit`'
}
post {
always {
- sh './Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
+ sh 'python px4-posix_sitl_default*/share/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
archiveArtifacts '.ros/**/*.pdf'
archiveArtifacts '.ros/**/*.csv'
sh 'make distclean'
diff --git a/platforms/posix/CMakeLists.txt b/platforms/posix/CMakeLists.txt
index 18dc510ca2..8f370176ba 100644
--- a/platforms/posix/CMakeLists.txt
+++ b/platforms/posix/CMakeLists.txt
@@ -92,6 +92,77 @@ endif()
# install
#
-install(TARGETS px4 DESTINATION ${CMAKE_INSTALL_BINDIR})
-install(DIRECTORY ${PROJECT_SOURCE_DIR}/ROMFS DESTINATION ${CMAKE_INSTALL_DATADIR}/${PROJECT_NAME})
-install(DIRECTORY ${PROJECT_SOURCE_DIR}/posix-configs DESTINATION ${CMAKE_INSTALL_DATADIR}/${PROJECT_NAME})
+# px4 app
+install(
+ TARGETS
+ px4
+ DESTINATION
+ ${CMAKE_INSTALL_BINDIR}
+ )
+
+# px4 dirs
+install(
+ DIRECTORY
+ ${PROJECT_SOURCE_DIR}/integrationtests
+ ${PROJECT_SOURCE_DIR}/launch
+ ${PROJECT_SOURCE_DIR}/posix-configs
+ ${PROJECT_SOURCE_DIR}/ROMFS
+ ${PROJECT_SOURCE_DIR}/test
+ DESTINATION
+ ${CMAKE_INSTALL_DATADIR}/${PROJECT_NAME}
+ )
+
+# px4 files
+install(
+ FILES
+ ${PROJECT_SOURCE_DIR}/CMakeLists.txt
+ ${PROJECT_SOURCE_DIR}/package.xml
+ DESTINATION
+ ${CMAKE_INSTALL_DATADIR}/${PROJECT_NAME}
+ )
+
+# px4 Tools dirs
+install(
+ DIRECTORY
+ ${PROJECT_SOURCE_DIR}/Tools/ecl_ekf
+ DESTINATION
+ ${CMAKE_INSTALL_DATADIR}/${PROJECT_NAME}/Tools
+ )
+
+# px4 Tools files
+install(
+ FILES
+ ${PROJECT_SOURCE_DIR}/Tools/setup_gazebo.bash
+ ${PROJECT_SOURCE_DIR}/Tools/upload_log.py
+ DESTINATION
+ ${CMAKE_INSTALL_DATADIR}/${PROJECT_NAME}/Tools
+ )
+
+# sitl_gazebo built plugins
+install(
+ DIRECTORY
+ ${PROJECT_SOURCE_DIR}/build/posix_sitl_default/build_gazebo
+ DESTINATION
+ ${CMAKE_INSTALL_DATADIR}/${PROJECT_NAME}/build/posix_sitl_default
+ FILES_MATCHING
+ PATTERN "CMakeFiles" EXCLUDE
+ PATTERN "*.so"
+ )
+
+# sitl_gazebo dirs
+install(
+ DIRECTORY
+ ${PROJECT_SOURCE_DIR}/Tools/sitl_gazebo/models
+ ${PROJECT_SOURCE_DIR}/Tools/sitl_gazebo/worlds
+ DESTINATION
+ ${CMAKE_INSTALL_DATADIR}/${PROJECT_NAME}/Tools/sitl_gazebo
+ )
+
+# sitl_gazebo files
+install(
+ FILES
+ ${PROJECT_SOURCE_DIR}/Tools/sitl_gazebo/CMakeLists.txt
+ ${PROJECT_SOURCE_DIR}/Tools/sitl_gazebo/package.xml
+ DESTINATION
+ ${CMAKE_INSTALL_DATADIR}/${PROJECT_NAME}/Tools/sitl_gazebo
+ )
\ No newline at end of file
--
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