Integration Testing using ROS

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

::: info MAVSDK Integration Testing is preferred when writing new tests. Use the ROS-based integration test framework for use cases that require ROS (e.g. object avoidance).

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

Prerequisites:

Execute Tests

To run the MAVROS tests:

sh 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/:

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

For example:

sh ./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"):

sh ./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:

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

```python #!/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) ```

Run the new test only
Start the simulator:

sh cd <PX4-Autopilot_clone> source Tools/simulation/gazebo/setup_gazebo.bash roslaunch launch/mavros_posix_sitl.launch
Run test (in a new shell):

sh cd <PX4-Autopilot_clone> source Tools/simulation/gazebo/setup_gazebo.bash rosrun px4 mavros_new_test.py
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
(Optional) Create a new target in the Makefile
Open the Makefile
Search the Testing section
Add a new target name and call the test

For example:

sh 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.