From 86ae7442667378133a63b22ba53b497c8b63c314 Mon Sep 17 00:00:00 2001
From: Anthony Lamping <lamping.ap@gmail.com>
Date: Tue, 6 Feb 2018 15:11:09 -0500
Subject: [PATCH] CI: allow Gazebo to restart on crash (#8817)
* add respawn_gazebo arg to be used with empty_world.launch
* catch rospy sleep method's exceptions
* fix copy-paste mistake in land state failure message
---
.../mavros/mavros_offboard_attctl_test.py | 5 ++-
.../mavros/mavros_offboard_posctl_test.py | 5 ++-
.../px4_it/mavros/mavros_test_common.py | 44 ++++++++++++++-----
.../python_src/px4_it/mavros/mission_test.py | 5 ++-
launch/mavros_posix_sitl.launch | 2 +
launch/posix_sitl.launch | 2 +
test/mavros_posix_test_mission.test | 2 +
test/mavros_posix_tests_iris_opt_flow.test | 2 +
test/mavros_posix_tests_missions.test | 2 +
test/mavros_posix_tests_offboard_attctl.test | 2 +
test/mavros_posix_tests_offboard_posctl.test | 2 +
11 files changed, 60 insertions(+), 13 deletions(-)
diff --git a/integrationtests/python_src/px4_it/mavros/mavros_offboard_attctl_test.py b/integrationtests/python_src/px4_it/mavros/mavros_offboard_attctl_test.py
index 5d724b4c9d..7c81e75c90 100755
--- a/integrationtests/python_src/px4_it/mavros/mavros_offboard_attctl_test.py
+++ b/integrationtests/python_src/px4_it/mavros/mavros_offboard_attctl_test.py
@@ -132,7 +132,10 @@ class MavrosOffboardAttctlTest(MavrosTestCommon):
crossed = True
break
- rate.sleep()
+ try:
+ rate.sleep()
+ except rospy.ROSException as e:
+ self.fail(e)
self.assertTrue(crossed, (
"took too long to cross boundaries | current position x: {0:.2f}, y: {1:.2f}, z: {2:.2f} | timeout(seconds): {3}".
diff --git a/integrationtests/python_src/px4_it/mavros/mavros_offboard_posctl_test.py b/integrationtests/python_src/px4_it/mavros/mavros_offboard_posctl_test.py
index 263f1597be..6778371905 100755
--- a/integrationtests/python_src/px4_it/mavros/mavros_offboard_posctl_test.py
+++ b/integrationtests/python_src/px4_it/mavros/mavros_offboard_posctl_test.py
@@ -139,7 +139,10 @@ class MavrosOffboardPosctlTest(MavrosTestCommon):
reached = True
break
- rate.sleep()
+ try:
+ rate.sleep()
+ except rospy.ROSException as e:
+ self.fail(e)
self.assertTrue(reached, (
"took too long to get to position | current position x: {0:.2f}, y: {1:.2f}, z: {2:.2f} | timeout(seconds): {3}".
diff --git a/integrationtests/python_src/px4_it/mavros/mavros_test_common.py b/integrationtests/python_src/px4_it/mavros/mavros_test_common.py
index 810299a20c..b9d9c9ffa7 100644
--- a/integrationtests/python_src/px4_it/mavros/mavros_test_common.py
+++ b/integrationtests/python_src/px4_it/mavros/mavros_test_common.py
@@ -48,7 +48,7 @@ class MavrosTestCommon(unittest.TestCase):
except rospy.ROSException:
self.fail("failed to connect to services")
self.get_param_srv = rospy.ServiceProxy('mavros/param/get', ParamGet)
- self.set_arming_srv = rospy.ServiceProxy('/mavros/cmd/arming',
+ self.set_arming_srv = rospy.ServiceProxy('mavros/cmd/arming',
CommandBool)
self.set_mode_srv = rospy.ServiceProxy('mavros/set_mode', SetMode)
self.wp_clear_srv = rospy.ServiceProxy('mavros/mission/clear',
@@ -184,7 +184,10 @@ class MavrosTestCommon(unittest.TestCase):
except rospy.ServiceException as e:
rospy.logerr(e)
- rate.sleep()
+ try:
+ rate.sleep()
+ except rospy.ROSException as e:
+ self.fail(e)
self.assertTrue(arm_set, (
"failed to set arm | new arm: {0}, old arm: {1} | timeout(seconds): {2}".
@@ -211,7 +214,10 @@ class MavrosTestCommon(unittest.TestCase):
except rospy.ServiceException as e:
rospy.logerr(e)
- rate.sleep()
+ try:
+ rate.sleep()
+ except rospy.ROSException as e:
+ self.fail(e)
self.assertTrue(mode_set, (
"failed to set mode | new mode: {0}, old mode: {1} | timeout(seconds): {2}".
@@ -232,7 +238,10 @@ class MavrosTestCommon(unittest.TestCase):
format(i / loop_freq, timeout))
break
- rate.sleep()
+ try:
+ rate.sleep()
+ except rospy.ROSException as e:
+ self.fail(e)
self.assertTrue(simulation_ready, (
"failed to hear from all subscribed simulation topics | topic ready flags: {0} | timeout(seconds): {1}".
@@ -252,13 +261,16 @@ class MavrosTestCommon(unittest.TestCase):
format(i / loop_freq, timeout))
break
- rate.sleep()
+ try:
+ rate.sleep()
+ except rospy.ROSException as e:
+ self.fail(e)
self.assertTrue(landed_state_confirmed, (
"landed state not detected | desired: {0}, current: {1} | index: {2}, timeout(seconds): {3}".
format(mavutil.mavlink.enums['MAV_LANDED_STATE'][
desired_landed_state].name, mavutil.mavlink.enums[
- 'MAV_VTOL_STATE'][self.extended_state.landed_state].name,
+ 'MAV_LANDED_STATE'][self.extended_state.landed_state].name,
index, timeout)))
def wait_for_vtol_state(self, transition, timeout, index):
@@ -277,7 +289,10 @@ class MavrosTestCommon(unittest.TestCase):
transitioned = True
break
- rate.sleep()
+ try:
+ rate.sleep()
+ except rospy.ROSException as e:
+ self.fail(e)
self.assertTrue(transitioned, (
"transition not detected | desired: {0}, current: {1} | index: {2} timeout(seconds): {3}".
@@ -304,7 +319,10 @@ class MavrosTestCommon(unittest.TestCase):
except rospy.ServiceException as e:
rospy.logerr(e)
- rate.sleep()
+ try:
+ rate.sleep()
+ except rospy.ROSException as e:
+ self.fail(e)
self.assertTrue(wps_cleared, (
"failed to clear waypoints | timeout(seconds): {0}".format(timeout)
@@ -340,7 +358,10 @@ class MavrosTestCommon(unittest.TestCase):
format(i / loop_freq, timeout))
break
- rate.sleep()
+ try:
+ rate.sleep()
+ except rospy.ROSException as e:
+ self.fail(e)
self.assertTrue((
wps_sent and wps_verified
@@ -366,7 +387,10 @@ class MavrosTestCommon(unittest.TestCase):
except rospy.ServiceException as e:
rospy.logerr(e)
- rate.sleep()
+ try:
+ rate.sleep()
+ except rospy.ROSException as e:
+ self.fail(e)
self.assertTrue(res.success, (
"MAV_TYPE param get failed | timeout(seconds): {0}".format(timeout)
diff --git a/integrationtests/python_src/px4_it/mavros/mission_test.py b/integrationtests/python_src/px4_it/mavros/mission_test.py
index 5de036f6ea..a048c6134d 100755
--- a/integrationtests/python_src/px4_it/mavros/mission_test.py
+++ b/integrationtests/python_src/px4_it/mavros/mission_test.py
@@ -252,7 +252,10 @@ class MavrosMissionTest(MavrosTestCommon):
format(self.mission_wp.current_seq, xy_radius, z_radius,
pos_xy_d, pos_z_d))
- rate.sleep()
+ try:
+ rate.sleep()
+ except rospy.ROSException as e:
+ self.fail(e)
self.assertTrue(
reached,
diff --git a/launch/mavros_posix_sitl.launch b/launch/mavros_posix_sitl.launch
index 7bc706a87a..390452cd86 100644
--- a/launch/mavros_posix_sitl.launch
+++ b/launch/mavros_posix_sitl.launch
@@ -24,6 +24,7 @@
<arg name="debug" default="false"/>
<arg name="verbose" default="false"/>
<arg name="paused" default="false"/>
+ <arg name="respawn_gazebo" default="false"/>
<arg name="pluginlists_yaml" default="$(find mavros)/launch/px4_pluginlists.yaml" />
<arg name="config_yaml" default="$(find mavros)/launch/px4_config.yaml" />
@@ -45,6 +46,7 @@
<arg name="debug" value="$(arg debug)"/>
<arg name="verbose" value="$(arg verbose)"/>
<arg name="paused" value="$(arg paused)"/>
+ <arg name="respawn_gazebo" value="$(arg respawn_gazebo)"/>
</include>
<include file="$(find px4)/launch/mavros.launch">
diff --git a/launch/posix_sitl.launch b/launch/posix_sitl.launch
index d06f6b8a54..9e828182c2 100644
--- a/launch/posix_sitl.launch
+++ b/launch/posix_sitl.launch
@@ -20,6 +20,7 @@
<arg name="debug" default="false"/>
<arg name="verbose" default="false"/>
<arg name="paused" default="false"/>
+ <arg name="respawn_gazebo" default="false"/>
<node name="sitl" pkg="px4" type="px4" output="screen"
args="$(find px4) $(arg rcS)">
@@ -32,6 +33,7 @@
<arg name="debug" value="$(arg debug)" />
<arg name="verbose" value="$(arg verbose)" />
<arg name="paused" value="$(arg paused)" />
+ <arg name="respawn_gazebo" value="$(arg respawn_gazebo)"/>
</include>
<node name="$(anon vehicle_spawn)" output="screen" pkg="gazebo_ros" type="spawn_model"
diff --git a/test/mavros_posix_test_mission.test b/test/mavros_posix_test_mission.test
index e3111d32a4..5b48ce16d8 100644
--- a/test/mavros_posix_test_mission.test
+++ b/test/mavros_posix_test_mission.test
@@ -7,6 +7,7 @@
<arg name="est" default="ekf2"/>
<arg name="mission"/>
<arg name="vehicle"/>
+ <arg name="respawn_gazebo" default="true"/>
<include file="$(find px4)/launch/mavros_posix_sitl.launch">
<arg name="ns" value="$(arg ns)"/>
@@ -14,6 +15,7 @@
<arg name="gui" value="$(arg gui)"/>
<arg name="vehicle" value="$(arg vehicle)"/>
<arg name="est" value="$(arg est)"/>
+ <arg name="respawn_gazebo" value="$(arg respawn_gazebo)"/>
</include>
<group ns="$(arg ns)">
diff --git a/test/mavros_posix_tests_iris_opt_flow.test b/test/mavros_posix_tests_iris_opt_flow.test
index f4361e1285..ae174029fd 100644
--- a/test/mavros_posix_tests_iris_opt_flow.test
+++ b/test/mavros_posix_tests_iris_opt_flow.test
@@ -5,6 +5,7 @@
<arg name="headless" default="true"/>
<arg name="gui" default="false"/>
<arg name="est" default="ekf2"/>
+ <arg name="respawn_gazebo" default="true"/>
<include file="$(find px4)/launch/mavros_posix_sitl.launch">
<arg name="ns" value="$(arg ns)"/>
@@ -12,6 +13,7 @@
<arg name="gui" value="$(arg gui)"/>
<arg name="vehicle" value="iris_opt_flow"/>
<arg name="est" value="$(arg est)"/>
+ <arg name="respawn_gazebo" value="$(arg respawn_gazebo)"/>
</include>
<group ns="$(arg ns)">
diff --git a/test/mavros_posix_tests_missions.test b/test/mavros_posix_tests_missions.test
index 2494d93b89..2ac8217ad4 100644
--- a/test/mavros_posix_tests_missions.test
+++ b/test/mavros_posix_tests_missions.test
@@ -5,6 +5,7 @@
<arg name="headless" default="true"/>
<arg name="gui" default="false"/>
<arg name="est" default="ekf2"/>
+ <arg name="respawn_gazebo" default="true"/>
<include file="$(find px4)/launch/mavros_posix_sitl.launch">
<arg name="ns" value="$(arg ns)"/>
@@ -12,6 +13,7 @@
<arg name="gui" value="$(arg gui)"/>
<arg name="vehicle" value="standard_vtol"/>
<arg name="est" value="$(arg est)"/>
+ <arg name="respawn_gazebo" value="$(arg respawn_gazebo)"/>
</include>
<group ns="$(arg ns)">
diff --git a/test/mavros_posix_tests_offboard_attctl.test b/test/mavros_posix_tests_offboard_attctl.test
index 890a36ad17..e6407166f1 100644
--- a/test/mavros_posix_tests_offboard_attctl.test
+++ b/test/mavros_posix_tests_offboard_attctl.test
@@ -5,6 +5,7 @@
<arg name="headless" default="true"/>
<arg name="gui" default="false"/>
<arg name="est" default="ekf2"/>
+ <arg name="respawn_gazebo" default="true"/>
<include file="$(find px4)/launch/mavros_posix_sitl.launch">
<arg name="ns" value="$(arg ns)"/>
@@ -12,6 +13,7 @@
<arg name="gui" value="$(arg gui)"/>
<arg name="vehicle" value="iris"/>
<arg name="est" value="$(arg est)"/>
+ <arg name="respawn_gazebo" value="$(arg respawn_gazebo)"/>
</include>
<group ns="$(arg ns)">
diff --git a/test/mavros_posix_tests_offboard_posctl.test b/test/mavros_posix_tests_offboard_posctl.test
index 38d5b06566..92905e6870 100644
--- a/test/mavros_posix_tests_offboard_posctl.test
+++ b/test/mavros_posix_tests_offboard_posctl.test
@@ -5,6 +5,7 @@
<arg name="headless" default="true"/>
<arg name="gui" default="false"/>
<arg name="est" default="ekf2"/>
+ <arg name="respawn_gazebo" default="true"/>
<include file="$(find px4)/launch/mavros_posix_sitl.launch">
<arg name="ns" value="$(arg ns)"/>
@@ -12,6 +13,7 @@
<arg name="gui" value="$(arg gui)"/>
<arg name="vehicle" value="iris"/>
<arg name="est" value="$(arg est)"/>
+ <arg name="respawn_gazebo" value="$(arg respawn_gazebo)"/>
</include>
<group ns="$(arg ns)">
--
GitLab