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:

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)

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.