diff --git a/integrationtests/demo_tests/direct_manual_input_test.py b/integrationtests/demo_tests/direct_manual_input_test.py
deleted file mode 100755
index e5d28876714b37db63bddaf757ce8950de31cd8e..0000000000000000000000000000000000000000
--- a/integrationtests/demo_tests/direct_manual_input_test.py
+++ /dev/null
@@ -1,90 +0,0 @@
-#!/usr/bin/env python
-#***************************************************************************
-#
-# Copyright (c) 2015 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-# notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-# notice, this list of conditions and the following disclaimer in
-# the documentation and/or other materials provided with the
-# distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-# used to endorse or promote products derived from this software
-# without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-#***************************************************************************/
-
-#
-# @author Andreas Antener <andreas@uaventure.com>
-#
-PKG = 'px4'
-
-import unittest
-import rospy
-
-from px4.msg import actuator_armed
-from px4.msg import vehicle_control_mode
-from manual_input import ManualInput
-
-#
-# Tests if commander reacts to manual input and sets control flags accordingly
-#
-class ManualInputTest(unittest.TestCase):
-
- def setUp(self):
- self.actuator_status = actuator_armed()
- self.control_mode = vehicle_control_mode()
-
- #
- # General callback functions used in tests
- #
- def actuator_armed_callback(self, data):
- self.actuator_status = data
-
- def vehicle_control_mode_callback(self, data):
- self.control_mode = data
-
- #
- # Test arming
- #
- def test_manual_input(self):
- rospy.init_node('test_node', anonymous=True)
- rospy.Subscriber('actuator_armed', actuator_armed, self.actuator_armed_callback)
- rospy.Subscriber('vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback)
-
- man_in = ManualInput()
-
- # Test arming
- man_in.arm()
- self.assertEquals(self.actuator_status.armed, True, "did not arm")
-
- # Test posctl
- man_in.posctl()
- self.assertTrue(self.control_mode.flag_control_position_enabled, "flag_control_position_enabled is not set")
-
- # Test offboard
- man_in.offboard()
- self.assertTrue(self.control_mode.flag_control_offboard_enabled, "flag_control_offboard_enabled is not set")
-
-
-if __name__ == '__main__':
- import rostest
- rostest.rosrun(PKG, 'direct_manual_input_test', ManualInputTest)
diff --git a/integrationtests/demo_tests/direct_offboard_posctl_test.py b/integrationtests/demo_tests/direct_offboard_posctl_test.py
deleted file mode 100755
index 9a6c4af78372e534671db4b5da7628f22508392c..0000000000000000000000000000000000000000
--- a/integrationtests/demo_tests/direct_offboard_posctl_test.py
+++ /dev/null
@@ -1,175 +0,0 @@
-#!/usr/bin/env python
-#***************************************************************************
-#
-# Copyright (c) 2015 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-# notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-# notice, this list of conditions and the following disclaimer in
-# the documentation and/or other materials provided with the
-# distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-# used to endorse or promote products derived from this software
-# without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-#***************************************************************************/
-
-#
-# @author Andreas Antener <andreas@uaventure.com>
-#
-PKG = 'px4'
-
-import unittest
-import rospy
-import rosbag
-
-from numpy import linalg
-import numpy as np
-
-from px4.msg import vehicle_local_position
-from px4.msg import vehicle_control_mode
-from px4.msg import position_setpoint_triplet
-from px4.msg import position_setpoint
-from px4.msg import vehicle_local_position_setpoint
-
-from manual_input import ManualInput
-from flight_path_assertion import FlightPathAssertion
-from px4_test_helper import PX4TestHelper
-
-#
-# Tests flying a path in offboard control by directly sending setpoints
-# to the position controller (position_setpoint_triplet).
-#
-# For the test to be successful it needs to stay on the predefined path
-# and reach all setpoints in a certain time.
-#
-class DirectOffboardPosctlTest(unittest.TestCase):
-
- def setUp(self):
- rospy.init_node('test_node', anonymous=True)
- self.helper = PX4TestHelper("direct_offboard_posctl_test")
- self.helper.setUp()
-
- rospy.Subscriber('vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback)
- self.sub_vlp = rospy.Subscriber("vehicle_local_position", vehicle_local_position, self.position_callback)
- self.pub_spt = rospy.Publisher('position_setpoint_triplet', position_setpoint_triplet, queue_size=10)
- self.rate = rospy.Rate(10) # 10hz
- self.has_pos = False
- self.local_position = vehicle_local_position()
- self.control_mode = vehicle_control_mode()
-
- def tearDown(self):
- if self.fpa:
- self.fpa.stop()
-
- self.helper.tearDown()
-
- #
- # General callback functions used in tests
- #
-
- def position_callback(self, data):
- self.has_pos = True
- self.local_position = data
-
- def vehicle_control_mode_callback(self, data):
- self.control_mode = data
-
-
- #
- # Helper methods
- #
- def is_at_position(self, x, y, z, offset):
- rospy.logdebug("current position %f, %f, %f" % (self.local_position.x, self.local_position.y, self.local_position.z))
- desired = np.array((x, y, z))
- pos = np.array((self.local_position.x, self.local_position.y, self.local_position.z))
- return linalg.norm(desired - pos) < offset
-
- def reach_position(self, x, y, z, timeout):
- # set a position setpoint
- pos = position_setpoint()
- pos.valid = True
- pos.x = x
- pos.y = y
- pos.z = z
- pos.position_valid = True
- stp = position_setpoint_triplet()
- stp.current = pos
- self.pub_spt.publish(stp)
- self.helper.bag_write('px4/position_setpoint_triplet', stp)
-
- # does it reach the position in X seconds?
- count = 0
- while count < timeout:
- if self.is_at_position(pos.x, pos.y, pos.z, 0.5):
- break
- count = count + 1
- self.rate.sleep()
-
- self.assertTrue(count < timeout, "took too long to get to position")
-
- #
- # Test offboard position control
- #
- def test_posctl(self):
- man_in = ManualInput()
-
- # arm and go into offboard
- man_in.arm()
- man_in.offboard()
- self.assertTrue(self.control_mode.flag_armed, "flag_armed is not set")
- self.assertTrue(self.control_mode.flag_control_offboard_enabled, "flag_control_offboard_enabled is not set")
- self.assertTrue(self.control_mode.flag_control_position_enabled, "flag_control_position_enabled is not set")
-
- # prepare flight path
- positions = (
- (0, 0, 0),
- (0, 0, -2),
- (2, 2, -2),
- (2, -2, -2),
- (-2, -2, -2),
- (2, 2, -2))
-
- # flight path assertion
- self.fpa = FlightPathAssertion(positions, 1, 0)
- self.fpa.start()
-
- for i in range(0, len(positions)):
- self.reach_position(positions[i][0], positions[i][1], positions[i][2], 120)
- self.assertFalse(self.fpa.failed, "breached flight path tunnel (%d)" % i)
-
- # does it hold the position for Y seconds?
- count = 0
- timeout = 50
- while count < timeout:
- if not self.is_at_position(2, 2, -2, 0.5):
- break
- count = count + 1
- self.rate.sleep()
-
- self.assertTrue(count == timeout, "position could not be held")
- self.fpa.stop()
-
-
-if __name__ == '__main__':
- import rostest
- rostest.rosrun(PKG, 'direct_offboard_posctl_test', DirectOffboardPosctlTest)
- #unittest.main()
diff --git a/integrationtests/demo_tests/direct_tests.launch b/integrationtests/demo_tests/direct_tests.launch
deleted file mode 100644
index 04ba8a54d3ed78c437d3c82ea200ee4c9218de95..0000000000000000000000000000000000000000
--- a/integrationtests/demo_tests/direct_tests.launch
+++ /dev/null
@@ -1,22 +0,0 @@
-<launch>
- <arg name="headless" default="true"/>
- <arg name="gui" default="false"/>
- <arg name="enable_logging" default="false"/>
- <arg name="enable_ground_truth" default="true"/>
- <arg name="ns" default="iris"/>
- <arg name="log_file" default="$(arg ns)"/>
-
- <include file="$(find px4)/launch/gazebo_iris_empty_world.launch">
- <arg name="headless" value="$(arg headless)"/>
- <arg name="gui" value="$(arg gui)"/>
- <arg name="enable_logging" value="$(arg enable_logging)" />
- <arg name="enable_ground_truth" value="$(arg enable_ground_truth)" />
- <arg name="log_file" value="$(arg log_file)"/>
- <arg name="ns" value="$(arg ns)"/>
- </include>
-
- <group ns="$(arg ns)">
- <test test-name="direct_manual_input_test" pkg="px4" type="direct_manual_input_test.py" />
- <test test-name="direct_offboard_posctl_test" pkg="px4" type="direct_offboard_posctl_test.py" />
- </group>
-</launch>
diff --git a/integrationtests/demo_tests/mavros_tests.launch b/integrationtests/demo_tests/mavros_tests.launch
deleted file mode 100644
index cdafc967c548da69f14cac31e53efd50aae0fc61..0000000000000000000000000000000000000000
--- a/integrationtests/demo_tests/mavros_tests.launch
+++ /dev/null
@@ -1,25 +0,0 @@
-<launch>
- <arg name="headless" default="true"/>
- <arg name="gui" default="false"/>
- <arg name="enable_logging" default="false"/>
- <arg name="enable_ground_truth" default="true"/>
- <arg name="ns" default="iris"/>
- <arg name="log_file" default="$(arg ns)"/>
-
- <include file="$(find px4)/launch/gazebo_iris_empty_world.launch">
- <arg name="headless" value="$(arg headless)"/>
- <arg name="gui" value="$(arg gui)"/>
- <arg name="enable_logging" value="$(arg enable_logging)" />
- <arg name="enable_ground_truth" value="$(arg enable_ground_truth)" />
- <arg name="log_file" value="$(arg log_file)"/>
- <arg name="ns" value="$(arg ns)"/>
- </include>
- <include file="$(find px4)/launch/mavros_sitl.launch">
- <arg name="ns" value="$(arg ns)"/>
- </include>
-
- <group ns="$(arg ns)">
- <test test-name="mavros_offboard_posctl_test" pkg="px4" type="mavros_offboard_posctl_test.py" />
- <test test-name="mavros_offboard_attctl_test" pkg="px4" type="mavros_offboard_attctl_test.py" />
- </group>
-</launch>
diff --git a/integrationtests/demo_tests/mavros_tests_posix.launch b/integrationtests/demo_tests/mavros_tests_posix.launch
deleted file mode 100644
index 029ef815904e38f7f3c9604a70c767b87327a965..0000000000000000000000000000000000000000
--- a/integrationtests/demo_tests/mavros_tests_posix.launch
+++ /dev/null
@@ -1,26 +0,0 @@
-<launch>
- <arg name="headless" default="true"/>
- <arg name="gui" default="false"/>
- <arg name="ns" default="iris"/>
-
- <node pkg="px4" type="sitl_run.sh" name="simulator" args="posix-configs/SITL/init/rcS none gazebo iris $(find px4)/build_posix_sitl_default">
- <env name="no_sim" value="1" />
- </node>
-
- <include file="$(find gazebo_ros)/launch/empty_world.launch">
- <arg name="headless" value="$(arg headless)"/>
- <arg name="gui" value="$(arg gui)"/>
- <arg name="world_name" value="$(find px4)/Tools/sitl_gazebo/worlds/iris.world" />
- </include>
-
- <include file="$(find px4)/launch/mavros_sitl.launch">
- <arg name="ns" value="$(arg ns)"/>
- <arg name="fcu_url" value="udp://:14567@localhost:14557"/>
- <arg name="tgt_component" value="1"/>
- </include>
-
- <group ns="$(arg ns)">
- <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" />
- </group>
-</launch>
diff --git a/integrationtests/demo_tests/mavros_offboard_attctl_test.py b/integrationtests/python_src/px4_it/mavros/mavros_offboard_attctl_test.py
similarity index 90%
rename from integrationtests/demo_tests/mavros_offboard_attctl_test.py
rename to integrationtests/python_src/px4_it/mavros/mavros_offboard_attctl_test.py
index 36077f32dd025809cb48036c63cb3eb43fa37e1f..8668a34d2a0b03a6a1af6e1cd2599f988dc01d74 100755
--- a/integrationtests/demo_tests/mavros_offboard_attctl_test.py
+++ b/integrationtests/python_src/px4_it/mavros/mavros_offboard_attctl_test.py
@@ -46,6 +46,7 @@ from std_msgs.msg import Float64
from geometry_msgs.msg import PoseStamped, Quaternion
from tf.transformations import quaternion_from_euler
from mavros_msgs.srv import CommandLong
+from sensor_msgs.msg import NavSatFix
#from px4_test_helper import PX4TestHelper
class MavrosOffboardAttctlTest(unittest.TestCase):
@@ -63,12 +64,13 @@ class MavrosOffboardAttctlTest(unittest.TestCase):
#self.helper.setUp()
rospy.Subscriber("mavros/local_position/pose", PoseStamped, self.position_callback)
+ rospy.Subscriber("mavros/global_position/global", NavSatFix, self.global_position_callback)
self.pub_att = rospy.Publisher('mavros/setpoint_attitude/attitude', PoseStamped, queue_size=10)
self.pub_thr = rospy.Publisher('mavros/setpoint_attitude/att_throttle', Float64, queue_size=10)
rospy.wait_for_service('mavros/cmd/command', 30)
self._srv_cmd_long = rospy.ServiceProxy('mavros/cmd/command', CommandLong, persistent=True)
self.rate = rospy.Rate(10) # 10hz
- self.has_pos = False
+ self.has_global_pos = False
self.local_position = PoseStamped()
def tearDown(self):
@@ -79,22 +81,28 @@ class MavrosOffboardAttctlTest(unittest.TestCase):
# General callback functions used in tests
#
def position_callback(self, data):
- self.has_pos = True
self.local_position = data
+ def global_position_callback(self, data):
+ self.has_global_pos = True
+
def test_attctl(self):
"""Test offboard attitude control"""
+ # FIXME: hack to wait for simulation to be ready
+ while not self.has_global_pos:
+ self.rate.sleep()
+
# set some attitude and thrust
att = PoseStamped()
att.header = Header()
att.header.frame_id = "base_footprint"
att.header.stamp = rospy.Time.now()
- quaternion = quaternion_from_euler(0.15, 0.15, 0)
+ quaternion = quaternion_from_euler(0.25, 0.25, 0)
att.pose.orientation = Quaternion(*quaternion)
throttle = Float64()
- throttle.data = 0.8
+ throttle.data = 0.7
armed = False
# does it cross expected boundaries in X seconds?
@@ -110,7 +118,7 @@ class MavrosOffboardAttctlTest(unittest.TestCase):
#self.helper.bag_write('mavros/setpoint_attitude/att_throttle', throttle)
self.rate.sleep()
- # arm and switch to offboard
+ # FIXME: arm and switch to offboard
# (need to wait the first few rounds until PX4 has the offboard stream)
if not armed and count > 5:
self._srv_cmd_long(False, 176, False,
diff --git a/integrationtests/demo_tests/mavros_offboard_posctl_test.py b/integrationtests/python_src/px4_it/mavros/mavros_offboard_posctl_test.py
similarity index 93%
rename from integrationtests/demo_tests/mavros_offboard_posctl_test.py
rename to integrationtests/python_src/px4_it/mavros/mavros_offboard_posctl_test.py
index 7747d904d844895cc102ae9b43639616d614b30e..bd106d672b0044a7340d49cb66f3d5acfca22401 100755
--- a/integrationtests/demo_tests/mavros_offboard_posctl_test.py
+++ b/integrationtests/python_src/px4_it/mavros/mavros_offboard_posctl_test.py
@@ -49,6 +49,7 @@ from std_msgs.msg import Header
from geometry_msgs.msg import PoseStamped, Quaternion
from tf.transformations import quaternion_from_euler
from mavros_msgs.srv import CommandLong
+from sensor_msgs.msg import NavSatFix
#from px4_test_helper import PX4TestHelper
class MavrosOffboardPosctlTest(unittest.TestCase):
@@ -66,11 +67,12 @@ class MavrosOffboardPosctlTest(unittest.TestCase):
#self.helper.setUp()
rospy.Subscriber("mavros/local_position/pose", PoseStamped, self.position_callback)
+ rospy.Subscriber("mavros/global_position/global", NavSatFix, self.global_position_callback)
self.pub_spt = rospy.Publisher('mavros/setpoint_position/local', PoseStamped, queue_size=10)
rospy.wait_for_service('mavros/cmd/command', 30)
self._srv_cmd_long = rospy.ServiceProxy('mavros/cmd/command', CommandLong, persistent=True)
self.rate = rospy.Rate(10) # 10hz
- self.has_pos = False
+ self.has_global_pos = False
self.local_position = PoseStamped()
self.armed = False
@@ -82,17 +84,15 @@ class MavrosOffboardPosctlTest(unittest.TestCase):
# General callback functions used in tests
#
def position_callback(self, data):
- self.has_pos = True
self.local_position = data
+ def global_position_callback(self, data):
+ self.has_global_pos = True
#
# Helper methods
#
def is_at_position(self, x, y, z, offset):
- if not self.has_pos:
- return False
-
rospy.logdebug("current position %f, %f, %f" %
(self.local_position.pose.position.x,
self.local_position.pose.position.y,
@@ -127,7 +127,7 @@ class MavrosOffboardPosctlTest(unittest.TestCase):
self.pub_spt.publish(pos)
#self.helper.bag_write('mavros/setpoint_position/local', pos)
- # arm and switch to offboard
+ # FIXME: arm and switch to offboard
# (need to wait the first few rounds until PX4 has the offboard stream)
if not self.armed and count > 5:
self._srv_cmd_long(False, 176, False,
@@ -144,6 +144,10 @@ class MavrosOffboardPosctlTest(unittest.TestCase):
def test_posctl(self):
"""Test offboard position control"""
+ # FIXME: hack to wait for simulation to be ready
+ while not self.has_global_pos:
+ self.rate.sleep()
+
positions = (
(0, 0, 0),
(2, 2, 2),
diff --git a/integrationtests/python_src/px4_it/util/TODO.md b/integrationtests/python_src/px4_it/util/TODO.md
new file mode 100644
index 0000000000000000000000000000000000000000..b57e40a46e41f283e1b9d92e974f2dfbd54b4276
--- /dev/null
+++ b/integrationtests/python_src/px4_it/util/TODO.md
@@ -0,0 +1 @@
+TODO: Adopt to new SITL
diff --git a/integrationtests/demo_tests/flight_path_assertion.py b/integrationtests/python_src/px4_it/util/flight_path_assertion.py
similarity index 100%
rename from integrationtests/demo_tests/flight_path_assertion.py
rename to integrationtests/python_src/px4_it/util/flight_path_assertion.py
diff --git a/integrationtests/demo_tests/manual_input.py b/integrationtests/python_src/px4_it/util/manual_input.py
similarity index 100%
rename from integrationtests/demo_tests/manual_input.py
rename to integrationtests/python_src/px4_it/util/manual_input.py
diff --git a/integrationtests/demo_tests/px4_test_helper.py b/integrationtests/python_src/px4_it/util/px4_test_helper.py
similarity index 100%
rename from integrationtests/demo_tests/px4_test_helper.py
rename to integrationtests/python_src/px4_it/util/px4_test_helper.py
diff --git a/integrationtests/run-container.bash b/integrationtests/run_container.bash
similarity index 91%
rename from integrationtests/run-container.bash
rename to integrationtests/run_container.bash
index 73475ffe145984f0ad64691e04a3ed97513aae21..73272d13a4aa9e71f3ee0259888221dd5e524024 100755
--- a/integrationtests/run-container.bash
+++ b/integrationtests/run_container.bash
@@ -21,5 +21,5 @@ fi
# 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 "$WORKSPACE:/job:rw" px4io/px4-dev-ros bash "/job/Firmware/integrationtests/run-tests.bash"
+docker run --rm -v "$WORKSPACE:/job:rw" px4io/px4-dev-ros bash "/job/Firmware/integrationtests/run_tests.bash" /job/Firmware
echo "<==="
diff --git a/integrationtests/run-tests.bash b/integrationtests/run_tests.bash
similarity index 71%
rename from integrationtests/run-tests.bash
rename to integrationtests/run_tests.bash
index 139b292150cf16bec69371693b755589c6028a69..caaf31f9d9325500906d3c3ac262bf36a2b74c06 100755
--- a/integrationtests/run-tests.bash
+++ b/integrationtests/run_tests.bash
@@ -5,48 +5,55 @@
# License: according to LICENSE.md in the root directory of the PX4 Firmware repository
set -e
-SRC_DIR=/root/Firmware
+if [ "$#" -lt 1 ]
+then
+ echo usage: run_tests.bash firmware_src_dir
+ echo ""
+ exit 1
+fi
+
+SRC_DIR=$1
+JOB_DIR=SRC_DIR/..
BUILD=posix_sitl_default
# TODO
ROS_TEST_RESULT_DIR=/root/.ros/test_results/px4
ROS_LOG_DIR=/root/.ros/log
PX4_LOG_DIR=${SRC_DIR}/build_${BUILD}/src/firmware/posix/rootfs/fs/microsd/log
-TEST_RESULT_TARGET_DIR=/job/test_results
+TEST_RESULT_TARGET_DIR=$JOB_DIR/test_results
# BAGS=/root/.ros
# CHARTS=/root/.ros/charts
# EXPORT_CHARTS=/sitl/testing/export_charts.py
-# source ROS env, setup Gazebo env
+# source ROS env
source /opt/ros/indigo/setup.bash
-export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:${SRC_DIR}/Tools/sitl_gazebo/models
-export GAZEBO_PLUGIN_PATH=${SRC_DIR}/Tools/sitl_gazebo/Build/:${GAZEBO_PLUGIN_PATH}
-export LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:${SRC_DIR}/Tools/sitl_gazebo/Build/msgs/
-export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:${SRC_DIR}
+source $SRC_DIR/integrationtests/setup_gazebo_ros.bash $SRC_DIR
echo "deleting previous test results"
if [ -d ${TEST_RESULT_TARGET_DIR} ]; then
rm -r ${TEST_RESULT_TARGET_DIR}
fi
-echo "linking source to test"
-if [ -d "${SRC_DIR}" ]; then
- rm -r ${SRC_DIR}
+# FIXME: Firmware compilation seems to CD into this directory (/root/Firmware)
+# when run from "run_container.bash"
+if [ -d /root/Firmware ]; then
+ rm /root/Firmware
fi
-ln -s /job/Firmware ${SRC_DIR}
+ln -s ${SRC_DIR} /root/Firmware
-echo "=====> compile"
+echo "=====> compile ($SRC_DIR)"
cd $SRC_DIR
make ${BUILD}
mkdir -p Tools/sitl_gazebo/Build
cd Tools/sitl_gazebo/Build
cmake -Wno-dev ..
make -j4
+make sdf
echo "<====="
# don't exit on error anymore from here on (because single tests or exports might fail)
set +e
echo "=====> run tests"
-rostest px4 mavros_tests_posix.launch
+rostest px4 mavros_posix_tests_iris.launch
TEST_RESULT=$?
echo "<====="
diff --git a/integrationtests/setup_gazebo_ros.bash b/integrationtests/setup_gazebo_ros.bash
new file mode 100755
index 0000000000000000000000000000000000000000..7655fec9a7fec1f6de01f6dd36523db26f6fb2cf
--- /dev/null
+++ b/integrationtests/setup_gazebo_ros.bash
@@ -0,0 +1,20 @@
+#!/bin/bash
+#
+# Setup environment to make PX4 visible to ROS/Gazebo.
+#
+# License: according to LICENSE.md in the root directory of the PX4 Firmware repository
+
+if [ "$#" -lt 1 ]
+then
+ echo usage: source setup_gazebo_ros.bash firmware_src_dir
+ echo ""
+ return 1
+fi
+
+SRC_DIR=$1
+
+# setup Gazebo env and update package path
+export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:${SRC_DIR}/Tools/sitl_gazebo/models
+export GAZEBO_PLUGIN_PATH=${SRC_DIR}/Tools/sitl_gazebo/Build/:${GAZEBO_PLUGIN_PATH}
+export LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:${SRC_DIR}/Tools/sitl_gazebo/Build/msgs/
+export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:${SRC_DIR}
diff --git a/launch/mavros.launch b/launch/mavros.launch
new file mode 100644
index 0000000000000000000000000000000000000000..e61a9137145e6c581149734e21b59281c27fb5dd
--- /dev/null
+++ b/launch/mavros.launch
@@ -0,0 +1,21 @@
+<launch>
+ <!-- MAVROS launch script PX4 (default) -->
+
+ <arg name="ns" default="/" />
+ <arg name="fcu_url" default="" />
+ <arg name="gcs_url" default="udp://:14550@:14555" />
+ <arg name="tgt_system" default="1" />
+ <arg name="tgt_component" default="1" />
+
+ <group ns="$(arg ns)">
+ <include file="$(find mavros)/launch/node.launch">
+ <arg name="pluginlists_yaml" value="$(find mavros)/launch/px4_pluginlists.yaml" />
+ <arg name="config_yaml" value="$(find mavros)/launch/px4_config.yaml" />
+
+ <arg name="fcu_url" value="$(arg fcu_url)" />
+ <arg name="gcs_url" value="$(arg gcs_url)" />
+ <arg name="tgt_system" value="$(arg tgt_system)" />
+ <arg name="tgt_component" value="$(arg tgt_component)" />
+ </include>
+ </group>
+</launch>
diff --git a/launch/mavros_posix_sitl.launch b/launch/mavros_posix_sitl.launch
new file mode 100644
index 0000000000000000000000000000000000000000..905e0a2ff179ff3d82458a2973b058b74653184a
--- /dev/null
+++ b/launch/mavros_posix_sitl.launch
@@ -0,0 +1,22 @@
+<launch>
+ <!-- MAVROS posix SITL environment launch script -->
+
+ <arg name="headless" default="false"/>
+ <arg name="gui" default="true"/>
+ <arg name="ns" default="/"/>
+ <arg name="world" default="iris"/>
+ <arg name="build" default="posix_sitl_default"/>
+
+ <include file="$(find px4)/launch/posix_sitl.launch">
+ <arg name="headless" value="$(arg headless)"/>
+ <arg name="gui" value="$(arg gui)"/>
+ <arg name="ns" value="$(arg ns)"/>
+ <arg name="world" value="$(arg world)"/>
+ <arg name="build" value="$(arg build)"/>
+ </include>
+
+ <include file="$(find px4)/launch/mavros.launch">
+ <arg name="ns" value="$(arg ns)"/>
+ <arg name="fcu_url" value="udp://:14567@localhost:14557"/>
+ </include>
+</launch>
diff --git a/launch/mavros_posix_tests_iris.launch b/launch/mavros_posix_tests_iris.launch
new file mode 100644
index 0000000000000000000000000000000000000000..235acda6f2fe4bc05183c8c17fa164605e24adf9
--- /dev/null
+++ b/launch/mavros_posix_tests_iris.launch
@@ -0,0 +1,18 @@
+<launch>
+ <!-- Posix SITL MAVROS integration tests -->
+
+ <arg name="ns" default="/"/>
+ <arg name="headless" default="true"/>
+ <arg name="gui" default="false"/>
+
+ <include file="$(find px4)/launch/mavros_posix_sitl.launch">
+ <arg name="ns" value="$(arg ns)"/>
+ <arg name="headless" value="$(arg headless)"/>
+ <arg name="gui" value="$(arg gui)"/>
+ </include>
+
+ <group ns="$(arg ns)">
+ <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" />
+ </group>
+</launch>
diff --git a/launch/mavros_sitl.launch b/launch/mavros_sitl.launch
index 7997a69d8a9a66fce22d652fba33184b56503528..50ede33f9c5d3e45e59e162cf5c1c7f81d9b6247 100644
--- a/launch/mavros_sitl.launch
+++ b/launch/mavros_sitl.launch
@@ -1,6 +1,5 @@
<launch>
-<!-- vim: set ft=xml noet : -->
-<!-- example launch script for PX4 based FCU's -->
+<!-- MAVROS launch script for deprecated multiplatform SITL -->
<arg name="ns" default="/" />
<arg name="fcu_url" default="udp://localhost:14560@localhost:14565" />
diff --git a/launch/posix_sitl.launch b/launch/posix_sitl.launch
new file mode 100644
index 0000000000000000000000000000000000000000..4e3b71f70c80da0614744c9b454f1b0f935bb07a
--- /dev/null
+++ b/launch/posix_sitl.launch
@@ -0,0 +1,19 @@
+<launch>
+ <!-- Posix SITL environment launch script -->
+
+ <arg name="headless" default="false"/>
+ <arg name="gui" default="true"/>
+ <arg name="ns" default="/"/>
+ <arg name="world" default="iris"/>
+ <arg name="build" default="posix_sitl_default"/>
+
+ <node pkg="px4" type="sitl_run.sh" name="simulator" args="posix-configs/SITL/init/rcS none gazebo iris $(find px4)/build_$(arg build)">
+ <env name="no_sim" value="1" />
+ </node>
+
+ <include file="$(find gazebo_ros)/launch/empty_world.launch">
+ <arg name="headless" value="$(arg headless)"/>
+ <arg name="gui" value="$(arg gui)"/>
+ <arg name="world_name" value="$(find px4)/Tools/sitl_gazebo/worlds/$(arg world).world" />
+ </include>
+</launch>
diff --git a/posix-configs/SITL/init/rcS_gazebo_iris b/posix-configs/SITL/init/rcS_gazebo_iris
index f95c7da6d816038dbc494a80bb3f89c49ce52e6e..674c2e6d287c3bc08cd9ebdf7e60828008ee81d3 100644
--- a/posix-configs/SITL/init/rcS_gazebo_iris
+++ b/posix-configs/SITL/init/rcS_gazebo_iris
@@ -18,11 +18,6 @@ param set CAL_ACC0_YSCALE 1.01
param set CAL_ACC0_ZSCALE 1.01
param set CAL_ACC1_XOFF 0.01
param set CAL_MAG0_XOFF 0.01
-param set MPC_XY_P 0.25
-param set MPC_XY_VEL_P 0.05
-param set MPC_XY_VEL_D 0.005
-param set MPC_XY_FF 0.1
-param set MPC_Z_P 1.3
param set SENS_BOARD_ROT 8
param set SENS_BOARD_X_OFF 0.000001
param set COM_RC_IN_MODE 1