• 综合测试
    • ROS / MAVROS Tests
      • Execute Tests
      • Write a new MAVROS test (Python)
        • 1.) Create a new test script
        • 2.) Run the new test only
        • 3.) Add new test node to launch file

    综合测试

    官网英文原文地址：http://dev.px4.io/tutorial-integration-testing.html

    This is about end to end integration testing. Tests are executed automatically (Jenkins CI)

    ROS / MAVROS Tests

    Prerequisites:

    • SITL Simulation
    • Gazebo
      • ROS and MAVROS

    Execute Tests

    To run the complete MAVROS test suite:

    1. cd <Firmware_clone>
    2. source integrationtests/setup_gazebo_ros.bash $(pwd)
    3. rostest px4 mavros_posix_tests_iris.launch

    Or with GUI to see what’s happening:

    1. rostest px4 mavros_posix_tests_iris.launch gui:=true headless:=false

    Write a new MAVROS test (Python)


    Currently in early stages, more streamlined support for testing (helper classes/methods etc.) to come.

    1.) Create a new test script

    Test scripts are located in integrationtests/python_src/px4_it/mavros/. See other existing scripts for examples. Also please consult the official ROS documentation on how to use unittest.

    Empty test skeleton:

    1. #!/usr/bin/env python
    2. # [... LICENSE ...]
    4. #
    5. # @author Example Author <author@example.com>
    6. #
    7. PKG = 'px4'
    9. import unittest
    10. import rospy
    11. import rosbag
    13. from sensor_msgs.msg import NavSatFix
    15. class MavrosNewTest(unittest.TestCase):
    16.     """
    17.     Test description
    18.     """
    20.     def setUp(self):
    21.         rospy.init_node('test_node', anonymous=True)
    22.         rospy.wait_for_service('mavros/cmd/arming', 30)
    24.         rospy.Subscriber("mavros/global_position/global", NavSatFix, self.global_position_callback)
    25.         self.rate = rospy.Rate(10) # 10hz
    26.         self.has_global_pos = False
    28.     def tearDown(self):
    29.         pass
    31.     #
    32.     # General callback functions used in tests
    33.     #
    34.     def global_position_callback(self, data):
    35.         self.has_global_pos = True
    37.     def test_method(self):
    38.         """Test method description"""
    40.         # FIXME: hack to wait for simulation to be ready
    41.         while not self.has_global_pos:
    42.             self.rate.sleep()
    44.         # TODO: execute test
    46. if __name__ == '__main__':
    47.     import rostest
    48.     rostest.rosrun(PKG, 'mavros_new_test', MavrosNewTest)

    2.) Run the new test only

    1. # Start simulation
    2. cd <Firmware_clone>
    3. source integrationtests/setup_gazebo_ros.bash $(pwd)
    4. roslaunch px4 mavros_posix_sitl.launch
    6. # Run test (in a new shell):
    7. cd <Firmware_clone>
    8. source integrationtests/setup_gazebo_ros.bash $(pwd)
    9. rosrun px4 mavros_new_test.py

    3.) Add new test node to launch file

    In launch/mavros_posix_tests_irisl.launch add new entry in test group:

    1.     <group ns="$(arg ns)">
    2.         [...]
    3.         <test test-name="mavros_new_test" pkg="px4" type="mavros_new_test.py" />
    4.     </group>

    Run the comlpete test suite as described above.