PX4-Autopilot/docs/zh/test_and_ci/integration_testing_ros1_mavros.md

Integration Testing using ROS 1

This topic explains how to run (and extend) PX4's ROS (1) and MAVROS -based integration tests.

:::warning This test framework is deprecated. It should be used only for new test cases that require ROS 1.

MAVSDK Integration Testing is preferred when writing new tests. :::

:::note All PX4 integration tests are executed automatically by our Continuous Integration system. :::

系统必备组件

• Gazebo Classic Simulator
• ROS and MAVROS

Execute Tests

To run the MAVROS tests:

source <catkin_ws>/devel/setup.bash
cd <PX4-Autopilot_clone>
make px4_sitl_default sitl_gazebo
make <test_target>

test_target is a makefile targets from the set: tests_mission, tests_mission_coverage, tests_offboard and tests_avoidance.

Test can also be executed directly by running the test scripts, located under test/:

source <catkin_ws>/devel/setup.bash
cd <PX4-Autopilot_clone>
make px4_sitl_default sitl_gazebo
./test/<test_bash_script> <test_launch_file>

例如：

./test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test

Tests can also be run with a GUI to see what's happening (by default the tests run "headless"):

./test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test gui:=true headless:=false

The .test files launch the corresponding Python tests defined in integrationtests/python_src/px4_it/mavros/

Write a New MAVROS Test (Python)

This section explains how to write a new python test using ROS 1/MAVROS, test it, and add it to the PX4 test suite.

We recommend you review the existing tests as examples/inspiration (integrationtests/python_src/px4_it/mavros/). The official ROS documentation also contains information on how to use unittest (on which this test suite is based).

To write a new test:

1. Create a new test script by copying the empty test skeleton below:

   #!/usr/bin/env python
   # [... LICENSE ...]
   
   #
   # @author Example Author <author@example.com>
   #
   PKG = 'px4'
   
   import unittest
   import rospy
   import rosbag
   
   from sensor_msgs.msg import NavSatFix
   
   class MavrosNewTest(unittest.TestCase):
   	"""
   	Test description
   	"""
   
   	def setUp(self):
        rospy.init_node('test_node', anonymous=True)
        rospy.wait_for_service('mavros/cmd/arming', 30)
   
        rospy.Subscriber("mavros/global_position/global", NavSatFix, self.global_position_callback)
        self.rate = rospy.Rate(10) # 10hz
        self.has_global_pos = False
   
   	def tearDown(self):
        pass
   
   	#
   	# General callback functions used in tests
   	#
   	def global_position_callback(self, data):
        self.has_global_pos = True
   
   	def test_method(self):
        """Test method description"""
   
        # FIXME: hack to wait for simulation to be ready
        while not self.has_global_pos:
            self.rate.sleep()
   
        # TODO: execute test
   
   if __name__ == '__main__':
   	import rostest
   	rostest.rosrun(PKG, 'mavros_new_test', MavrosNewTest)
   

2. Run the new test only

   • Start the simulator:

     cd <PX4-Autopilot_clone>
     source Tools/simulation/gazebo/setup_gazebo.bash
     roslaunch launch/mavros_posix_sitl.launch
     

   • Run test (in a new shell):

     cd <PX4-Autopilot_clone>
     source Tools/simulation/gazebo/setup_gazebo.bash
     rosrun px4 mavros_new_test.py
     

3. Add new test node to a launch file

   • In test/ create a new <test_name>.test ROS launch file.
   • Call the test file using one of the base scripts rostest_px4_run.sh or rostest_avoidance_run.sh

4. (Optional) Create a new target in the Makefile

   • Open the Makefile
   • Search the Testing section
   • Add a new target name and call the test

   例如：

   tests_<new_test_target_name>: rostest
   	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_<new_test>.test
   

Run the tests as described above.