diff --git a/Jenkinsfile b/Jenkinsfile
index d25eb150144c7de8feb2dd7bc6da7f2a5cefa1c9..43e2a2a25aacca5115b8eb4431db81caeee67222 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -346,6 +346,190 @@ pipeline {
}
}
+ stage('ROS mission 1') {
+ agent {
+ docker {
+ image 'px4io/px4-dev-ros:2017-12-30'
+ args '-e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw -e HOME=$WORKSPACE'
+ }
+ }
+ steps {
+ sh 'make clean; rm -rf .ros; rm -rf .gazebo'
+ sh 'make posix_sitl_default'
+ sh 'make posix_sitl_default sitl_gazebo'
+ sh './test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_new_1.txt vehicle:=vtol_standard'
+ }
+ post {
+ always {
+ archiveArtifacts '**/*.ulg'
+ archiveArtifacts '.ros/log/*.log'
+ archiveArtifacts '.ros/test_results/px4/**.xml'
+ //sh './Tools/upload_log.py -q --description "${ghprbPullDescription}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
+ }
+ }
+ }
+
+ stage('ROS mission 2') {
+ agent {
+ docker {
+ image 'px4io/px4-dev-ros:2017-12-30'
+ args '-e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw -e HOME=$WORKSPACE'
+ }
+ }
+ steps {
+ sh 'make clean; rm -rf .ros; rm -rf .gazebo'
+ sh 'make posix_sitl_default'
+ sh 'make posix_sitl_default sitl_gazebo'
+ sh './test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_new_2.txt vehicle:=vtol_standard'
+ }
+ post {
+ always {
+ archiveArtifacts '**/*.ulg'
+ archiveArtifacts '.ros/log/*.log'
+ archiveArtifacts '.ros/test_results/px4/**.xml'
+ //sh './Tools/upload_log.py -q --description "${ghprbPullDescription}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
+ }
+ }
+ }
+
+ stage('ROS mission 3') {
+ agent {
+ docker {
+ image 'px4io/px4-dev-ros:2017-12-30'
+ args '-e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw -e HOME=$WORKSPACE'
+ }
+ }
+ steps {
+ sh 'make clean; rm -rf .ros; rm -rf .gazebo'
+ sh 'make posix_sitl_default'
+ sh 'make posix_sitl_default sitl_gazebo'
+ sh './test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_old_1.txt vehicle:=vtol_standard'
+ }
+ post {
+ always {
+ archiveArtifacts '**/*.ulg'
+ archiveArtifacts '.ros/log/*.log'
+ archiveArtifacts '.ros/test_results/px4/**.xml'
+ //sh './Tools/upload_log.py -q --description "${ghprbPullDescription}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
+ }
+ }
+ }
+
+ stage('ROS mission 4') {
+ agent {
+ docker {
+ image 'px4io/px4-dev-ros:2017-12-30'
+ args '-e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw -e HOME=$WORKSPACE'
+ }
+ }
+ steps {
+ sh 'make clean; rm -rf .ros; rm -rf .gazebo'
+ sh 'make posix_sitl_default'
+ sh 'make posix_sitl_default sitl_gazebo'
+ sh './test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_old_2.txt vehicle:=vtol_standard'
+ }
+ post {
+ always {
+ archiveArtifacts '**/*.ulg'
+ archiveArtifacts '.ros/log/*.log'
+ archiveArtifacts '.ros/test_results/px4/**.xml'
+ //sh './Tools/upload_log.py -q --description "${ghprbPullDescription}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
+ }
+ }
+ }
+
+ stage('ROS mission 5') {
+ agent {
+ docker {
+ image 'px4io/px4-dev-ros:2017-12-30'
+ args '-e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw -e HOME=$WORKSPACE'
+ }
+ }
+ steps {
+ sh 'make clean; rm -rf .ros; rm -rf .gazebo'
+ sh 'make posix_sitl_default'
+ sh 'make posix_sitl_default sitl_gazebo'
+ sh './test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_old_3.txt vehicle:=vtol_standard'
+ }
+ post {
+ always {
+ archiveArtifacts '**/*.ulg'
+ archiveArtifacts '.ros/log/*.log'
+ archiveArtifacts '.ros/test_results/px4/**.xml'
+ //sh './Tools/upload_log.py -q --description "${ghprbPullDescription}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
+ }
+ }
+ }
+
+ stage('ROS mission 6') {
+ agent {
+ docker {
+ image 'px4io/px4-dev-ros:2017-12-30'
+ args '-e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw -e HOME=$WORKSPACE'
+ }
+ }
+ steps {
+ sh 'make clean; rm -rf .ros; rm -rf .gazebo'
+ sh 'make posix_sitl_default'
+ sh 'make posix_sitl_default sitl_gazebo'
+ sh './test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=multirotor_box.mission vehicle:=iris'
+ }
+ post {
+ always {
+ archiveArtifacts '**/*.ulg'
+ archiveArtifacts '.ros/log/*.log'
+ archiveArtifacts '.ros/test_results/px4/**.xml'
+ //sh './Tools/upload_log.py -q --description "${ghprbPullDescription}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
+ }
+ }
+ }
+
+ stage('ROS offboard att') {
+ agent {
+ docker {
+ image 'px4io/px4-dev-ros:2017-12-30'
+ args '-e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw -e HOME=$WORKSPACE'
+ }
+ }
+ steps {
+ sh 'make clean; rm -rf .ros; rm -rf .gazebo'
+ sh 'make posix_sitl_default'
+ sh 'make posix_sitl_default sitl_gazebo'
+ sh './test/rostest_px4_run.sh mavros_posix_tests_offboard_attctl.test'
+ }
+ post {
+ always {
+ archiveArtifacts '**/*.ulg'
+ archiveArtifacts '.ros/log/*.log'
+ archiveArtifacts '.ros/test_results/px4/**.xml'
+ //sh './Tools/upload_log.py -q --description "${ghprbPullDescription}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
+ }
+ }
+ }
+
+ stage('ROS offboard pos') {
+ agent {
+ docker {
+ image 'px4io/px4-dev-ros:2017-12-30'
+ args '-e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw -e HOME=$WORKSPACE'
+ }
+ }
+ steps {
+ sh 'make clean; rm -rf .ros; rm -rf .gazebo'
+ sh 'make posix_sitl_default'
+ sh 'make posix_sitl_default sitl_gazebo'
+ sh './test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test'
+ }
+ post {
+ always {
+ archiveArtifacts '**/*.ulg'
+ archiveArtifacts '.ros/log/*.log'
+ archiveArtifacts '.ros/test_results/px4/**.xml'
+ //sh './Tools/upload_log.py -q --description "${ghprbPullDescription}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
+ }
+ }
+ }
+
// temporarily disabled until stable
//stage('tests coverage') {
// agent {
diff --git a/Makefile b/Makefile
index 790d73f5f0978b4af20b1629d538110ce68b6239..1ae9ec2ce4fdd2a99f6d915a80e9a1e9e6f2c795 100644
--- a/Makefile
+++ b/Makefile
@@ -279,7 +279,7 @@ format:
# Testing
# --------------------------------------------------------------------
-.PHONY: tests tests_coverage
+.PHONY: tests tests_coverage tests_mission tests_offboard rostest
tests:
@$(MAKE) --no-print-directory posix_sitl_default test_results \
@@ -290,6 +290,18 @@ tests_coverage:
@$(MAKE) --no-print-directory posix_sitl_default test_coverage_genhtml PX4_CMAKE_BUILD_TYPE=Coverage
@echo "Open $(SRC_DIR)/build/posix_sitl_default/coverage-html/index.html to see coverage"
+rostest: posix_sitl_default
+ @$(MAKE) --no-print-directory posix_sitl_default sitl_gazebo
+
+tests_mission: rostest
+ @test/rostest_px4_run.sh mavros_posix_tests_missions.test
+
+tests_offboard: rostest
+ @$(SRC_DIR)/test/rostest_px4_run.sh mavros_posix_tests_offboard_attctl.test
+ @$(SRC_DIR)/test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test
+
+
+
# static analyzers (scan-build, clang-tidy, cppcheck)
# --------------------------------------------------------------------
.PHONY: scan-build posix_sitl_default-clang clang-tidy clang-tidy-fix clang-tidy-quiet cppcheck check_stack
diff --git a/integrationtests/run_container.bash b/integrationtests/run_container.bash
deleted file mode 100755
index b8a969af95f2573759ae6c4278627ad3a912077c..0000000000000000000000000000000000000000
--- a/integrationtests/run_container.bash
+++ /dev/null
@@ -1,31 +0,0 @@
-#!/bin/bash
-#
-# Run container and start test execution
-#
-# License: according to LICENSE.md in the root directory of the PX4 Firmware repository
-set -e
-
-if [ -z "$WORKSPACE" ]; then
- echo "\$WORKSPACE not set"
- exit 1
-fi
-
-IMAGE=px4io/px4-dev-ros:v1.0
-
-# Pulling latest image
-echo "===> pull latest Docker image"
-docker pull $IMAGE
-
-# removing some images might fail
-set +e
-docker rmi $(docker images --filter "dangling=true" -q --no-trunc)
-set -e
-echo "<==="
-
-#
-# Running SITL testing container
-# Assuming that necessary source projects, including this one, are cloned in the build server workspace of this job.
-#
-echo "===> run container"
-docker run --rm -v "$WORKSPACE:/job:rw" $IMAGE bash "/job/Firmware/integrationtests/run_tests.bash" /job/Firmware
-echo "<==="
diff --git a/integrationtests/run_tests.bash b/integrationtests/run_tests.bash
deleted file mode 100755
index 5e26acd7f0292bb7043437f53227d96435e06fab..0000000000000000000000000000000000000000
--- a/integrationtests/run_tests.bash
+++ /dev/null
@@ -1,140 +0,0 @@
-#!/bin/bash
-#
-# Starts tests from within the container
-#
-# License: according to LICENSE.md in the root directory of the PX4 Firmware repository
-set -e
-
-# TODO move to docker image
-pip install --upgrade numpy -q
-pip install px4tools pymavlink toml -q
-
-# A POSIX variable
-OPTIND=1 # Reset in case getopts has been used previously in the shell.
-
-# Initialize our own variables:
-do_clean=true
-gui=false
-
-while getopts "h?og" opt; do
- case "$opt" in
- h|\?)
- echo """
- $0 [-h] [-o] [-g]
- -h show help
- -o don't clean before building (to save time)
- -g run gazebo gui
- """
- exit 0
- ;;
- o) do_clean=false
- echo "not cleaning"
- ;;
- g) gui=true
- ;;
- esac
-done
-
-
-# determine the directory of the source given the directory of this script
-pushd `dirname $0` > /dev/null
-SCRIPTPATH=`pwd`
-popd > /dev/null
-ORIG_SRC=$(dirname $SCRIPTPATH)
-
-# set paths
-JOB_DIR=$(dirname $ORIG_SRC)
-CATKIN_DIR=$JOB_DIR/catkin
-BUILD_DIR=$CATKIN_DIR/build/px4
-SRC_DIR=${CATKIN_DIR}/src/px4
-
-echo setting up ROS paths
-if [ -f /opt/ros/indigo/setup.bash ]
-then
- source /opt/ros/indigo/setup.bash
-elif [ -f /opt/ros/kinetic/setup.bash ]
-then
- source /opt/ros/kinetic/setup.bash
-else
- echo "could not find /opt/ros/{ros-distro}/setup.bash"
- exit 1
-fi
-export ROS_HOME=$JOB_DIR/.ros
-export ROS_LOG_DIR=$ROS_HOME/log
-export ROS_TEST_RESULT_DIR=$ROS_HOME/test_results/px4
-export PX4_LOG_DIR=$ROS_HOME/rootfs/fs/microsd/log
-TEST_RESULT_TARGET_DIR=$JOB_DIR/test_results
-
-# TODO
-# BAGS=$ROS_HOME
-# CHARTS=$ROS_HOME/charts
-# EXPORT_CHARTS=/sitl/testing/export_charts.py
-
-if $do_clean
-then
- echo cleaning
- rm -rf $CATKIN_DIR
- rm -rf $ROS_HOME
- rm -rf $TEST_RESULT_TARGET_DIR
-else
- echo skipping clean step
-fi
-
-echo "=====> compile ($SRC_DIR)"
-mkdir -p $ROS_HOME
-mkdir -p $CATKIN_DIR/src
-mkdir -p $TEST_RESULT_TARGET_DIR
-if ! [ -d $SRC_DIR ]
-then
- ln -s $ORIG_SRC $SRC_DIR
- ln -s $ORIG_SRC/Tools/sitl_gazebo ${CATKIN_DIR}/src/mavlink_sitl_gazebo
-fi
-cd $CATKIN_DIR
-catkin_make
-. ./devel/setup.bash
-echo "<====="
-
-# print paths to user
-echo -e "JOB_DIR\t\t: $JOB_DIR"
-echo -e "ROS_HOME\t: $ROS_HOME"
-echo -e "CATKIN_DIR\t: $CATKIN_DIR"
-echo -e "BUILD_DIR\t: $BUILD_DIR"
-echo -e "SRC_DIR\t\t: $SRC_DIR"
-echo -e "ROS_TEST_RESULT_DIR\t: $ROS_TEST_RESULT_DIR"
-echo -e "ROS_LOG_DIR\t\t: $ROS_LOG_DIR"
-echo -e "PX4_LOG_DIR\t\t: $PX4_LOG_DIR"
-echo -e "TEST_RESULT_TARGET_DIR\t: $TEST_RESULT_TARGET_DIR"
-
-# don't exit on error anymore (because single tests or exports might fail)
-# however, stop executing tests after the first failure
-set +e
-echo "=====> run tests"
-test $? -eq 0 && rostest px4 mavros_posix_tests_iris.launch gui:=$gui
-
-# commented out optical flow test for now since ci server has
-# an issue producing the simulated flow camera currently
-#test $? -eq 0 && rostest px4 mavros_posix_tests_iris_opt_flow.launch gui:=$gui
-
-test $? -eq 0 && rostest px4 mavros_posix_tests_standard_vtol.launch gui:=$gui
-TEST_RESULT=$?
-echo "<====="
-
-# TODO
-echo "=====> process test results"
-# cd $BAGS
-# for bag in `ls *.bag`
-# do
-# echo "processing bag: $bag"
-# python $EXPORT_CHARTS $CHARTS $bag
-# done
-
-echo "copy build test results to job directory"
-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 "<====="
-
-# need to return error if tests failed, else Jenkins won't notice the failure
-exit $TEST_RESULT
diff --git a/integrationtests/upload_test_logs.bash b/integrationtests/upload_test_logs.bash
deleted file mode 100755
index ad76461edeeb23438380b8f61b9235e24a11b9c3..0000000000000000000000000000000000000000
--- a/integrationtests/upload_test_logs.bash
+++ /dev/null
@@ -1,19 +0,0 @@
-#!/bin/bash
-#
-# Upload SITL CI logs to Flight Review
-#
-# License: according to LICENSE.md in the root directory of the PX4 Firmware repository
-
-if [ -z "$WORKSPACE" ] || [ -z "${ghprbActualCommitAuthorEmail}" ] || [ -z "${ghprbPullDescription}" ]; then
- echo "Environment not set. Needs to be called from within Jenkins."
- exit 1
-fi
-
-echo "Uploading test logs to Flight Review"
-
-CMD="$WORKSPACE/Firmware/Tools/upload_log.py"
-find "$WORKSPACE/test_results" -name \*.ulg -exec "$CMD" -q \
- --description "${ghprbPullDescription}" --source CI "{}" \;
-
-# XXX: move up if we want email notifications
-# --email "${ghprbActualCommitAuthorEmail}" \
diff --git a/test/mavros_posix_test_mission.test b/test/mavros_posix_test_mission.test
new file mode 100644
index 0000000000000000000000000000000000000000..cc11c527590093e6cfa3791110211a66028c558b
--- /dev/null
+++ b/test/mavros_posix_test_mission.test
@@ -0,0 +1,21 @@
+<launch>
+ <!-- Posix SITL MAVROS integration tests -->
+
+ <arg name="ns" default="/"/>
+ <arg name="headless" default="true"/>
+ <arg name="gui" default="false"/>
+ <arg name="est" default="ekf2"/>
+ <arg name="mission"/>
+
+ <include file="$(find px4)/launch/mavros_posix_sitl.launch">
+ <arg name="ns" value="$(arg ns)"/>
+ <arg name="headless" value="$(arg headless)"/>
+ <arg name="gui" value="$(arg gui)"/>
+ <arg name="vehicle" value="standard_vtol"/>
+ <arg name="est" value="$(arg est)"/>
+ </include>
+
+ <group ns="$(arg ns)">
+ <test test-name="mission_test" pkg="px4" type="mission_test.py" time-limit="300.0" args="$(arg mission)" />
+ </group>
+</launch>
diff --git a/launch/mavros_posix_tests_iris_opt_flow.launch b/test/mavros_posix_tests_iris_opt_flow.test
similarity index 92%
rename from launch/mavros_posix_tests_iris_opt_flow.launch
rename to test/mavros_posix_tests_iris_opt_flow.test
index 68ecf90ebeccb2487869f48dce193eae6b8b4988..305d64d4a02d482db0f1ba445bb31850e5ae5345 100644
--- a/launch/mavros_posix_tests_iris_opt_flow.launch
+++ b/test/mavros_posix_tests_iris_opt_flow.test
@@ -19,5 +19,3 @@
<test test-name="mavros_flow_offboard_attctl_test" pkg="px4" type="mavros_offboard_attctl_test.py" />
</group>
</launch>
-
-<!-- vim: set ft=xml et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : -->
diff --git a/launch/mavros_posix_tests_standard_vtol.launch b/test/mavros_posix_tests_missions.test
similarity index 89%
rename from launch/mavros_posix_tests_standard_vtol.launch
rename to test/mavros_posix_tests_missions.test
index 4ce051cb40b1edb1cfe370ab77b387a0172550d9..3fdc207319b0d574e45694b2d31b0ee3d7003e64 100644
--- a/launch/mavros_posix_tests_standard_vtol.launch
+++ b/test/mavros_posix_tests_missions.test
@@ -15,6 +15,7 @@
</include>
<group ns="$(arg ns)">
+ <test test-name="multicopter_box" pkg="px4" type="mission_test.py" vehicle="iris" time-limit="120.0" args="multirotor_box.mission"/>
<test test-name="mission_test_new_1" pkg="px4" type="mission_test.py" time-limit="300.0" args="vtol_new_1.txt" />
<test test-name="mission_test_new_2" pkg="px4" type="mission_test.py" time-limit="300.0" args="vtol_new_2.txt" />
<test test-name="mission_test_old_1" pkg="px4" type="mission_test.py" time-limit="300.0" args="vtol_old_1.txt" />
@@ -22,5 +23,3 @@
<test test-name="mission_test_old_3" pkg="px4" type="mission_test.py" time-limit="300.0" args="vtol_old_3.txt" />
</group>
</launch>
-
-<!-- vim: set et ft=xml fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : -->
diff --git a/launch/mavros_posix_tests_iris.launch b/test/mavros_posix_tests_offboard_attctl.test
similarity index 69%
rename from launch/mavros_posix_tests_iris.launch
rename to test/mavros_posix_tests_offboard_attctl.test
index 7fae242b7e61718a3d845ceb7da064664e642f2e..49aa92d91837a4ffb493dd98a16782d632ed4620 100644
--- a/launch/mavros_posix_tests_iris.launch
+++ b/test/mavros_posix_tests_offboard_attctl.test
@@ -15,10 +15,6 @@
</include>
<group ns="$(arg ns)">
- <test test-name="box" pkg="px4" type="mission_test.py" time-limit="120.0" args="multirotor_box.mission"/>
- <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" time-limit="120.0"/>
</group>
</launch>
-
-<!-- vim: set et ft=xml fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : -->
diff --git a/test/mavros_posix_tests_offboard_posctl.test b/test/mavros_posix_tests_offboard_posctl.test
new file mode 100644
index 0000000000000000000000000000000000000000..87d2ccfe60426e3e9e99e177045b84b733cbfcdc
--- /dev/null
+++ b/test/mavros_posix_tests_offboard_posctl.test
@@ -0,0 +1,20 @@
+<launch>
+ <!-- Posix SITL MAVROS integration tests -->
+
+ <arg name="ns" default="/"/>
+ <arg name="headless" default="true"/>
+ <arg name="gui" default="false"/>
+ <arg name="est" default="lpe"/>
+
+ <include file="$(find px4)/launch/mavros_posix_sitl.launch">
+ <arg name="ns" value="$(arg ns)"/>
+ <arg name="headless" value="$(arg headless)"/>
+ <arg name="gui" value="$(arg gui)"/>
+ <arg name="vehicle" value="iris"/>
+ <arg name="est" value="$(arg est)"/>
+ </include>
+
+ <group ns="$(arg ns)">
+ <test test-name="mavros_offboard_posctl_test" pkg="px4" type="mavros_offboard_posctl_test.py" time-limit="120.0"/>
+ </group>
+</launch>
diff --git a/test/rostest_px4_run.sh b/test/rostest_px4_run.sh
new file mode 100755
index 0000000000000000000000000000000000000000..6af134a1646213df00d996a3ed13351555f408de
--- /dev/null
+++ b/test/rostest_px4_run.sh
@@ -0,0 +1,11 @@
+#! /bin/bash
+
+DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
+PX4_SRC_DIR=${DIR}/..
+
+source /opt/ros/kinetic/setup.bash
+source ${PX4_SRC_DIR}/Tools/setup_gazebo.bash ${PX4_SRC_DIR} ${PX4_SRC_DIR}/build/posix_sitl_default
+
+export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:${PX4_SRC_DIR}:${PX4_SRC_DIR}/Tools/sitl_gazebo
+
+rostest px4 "$@"