ROS tests move to test/ and new Jenkins

Jenkinsfile

@@ -346,6 +346,190 @@ pipeline {
           }
         }
 
+        stage('ROS mission 1') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-ros:2017-12-30'
+              args '-e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw -e HOME=$WORKSPACE'
+            }
+          }
+          steps {
+            sh 'make clean; rm -rf .ros; rm -rf .gazebo'
+            sh 'make posix_sitl_default'
+            sh 'make posix_sitl_default sitl_gazebo'
+            sh './test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_new_1.txt vehicle:=vtol_standard'
+          }
+          post {
+            always {
+              archiveArtifacts '**/*.ulg'
+              archiveArtifacts '.ros/log/*.log'
+              archiveArtifacts '.ros/test_results/px4/**.xml'
+              //sh './Tools/upload_log.py -q --description "${ghprbPullDescription}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
+            }
+          }
+        }
+
+        stage('ROS mission 2') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-ros:2017-12-30'
+              args '-e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw -e HOME=$WORKSPACE'
+            }
+          }
+          steps {
+            sh 'make clean; rm -rf .ros; rm -rf .gazebo'
+            sh 'make posix_sitl_default'
+            sh 'make posix_sitl_default sitl_gazebo'
+            sh './test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_new_2.txt vehicle:=vtol_standard'
+          }
+          post {
+            always {
+              archiveArtifacts '**/*.ulg'
+              archiveArtifacts '.ros/log/*.log'
+              archiveArtifacts '.ros/test_results/px4/**.xml'
+              //sh './Tools/upload_log.py -q --description "${ghprbPullDescription}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
+            }
+          }
+        }
+
+        stage('ROS mission 3') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-ros:2017-12-30'
+              args '-e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw -e HOME=$WORKSPACE'
+            }
+          }
+          steps {
+            sh 'make clean; rm -rf .ros; rm -rf .gazebo'
+            sh 'make posix_sitl_default'
+            sh 'make posix_sitl_default sitl_gazebo'
+            sh './test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_old_1.txt vehicle:=vtol_standard'
+          }
+          post {
+            always {
+              archiveArtifacts '**/*.ulg'
+              archiveArtifacts '.ros/log/*.log'
+              archiveArtifacts '.ros/test_results/px4/**.xml'
+              //sh './Tools/upload_log.py -q --description "${ghprbPullDescription}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
+            }
+          }
+        }
+
+        stage('ROS mission 4') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-ros:2017-12-30'
+              args '-e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw -e HOME=$WORKSPACE'
+            }
+          }
+          steps {
+            sh 'make clean; rm -rf .ros; rm -rf .gazebo'
+            sh 'make posix_sitl_default'
+            sh 'make posix_sitl_default sitl_gazebo'
+            sh './test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_old_2.txt vehicle:=vtol_standard'
+          }
+          post {
+            always {
+              archiveArtifacts '**/*.ulg'
+              archiveArtifacts '.ros/log/*.log'
+              archiveArtifacts '.ros/test_results/px4/**.xml'
+              //sh './Tools/upload_log.py -q --description "${ghprbPullDescription}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
+            }
+          }
+        }
+
+        stage('ROS mission 5') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-ros:2017-12-30'
+              args '-e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw -e HOME=$WORKSPACE'
+            }
+          }
+          steps {
+            sh 'make clean; rm -rf .ros; rm -rf .gazebo'
+            sh 'make posix_sitl_default'
+            sh 'make posix_sitl_default sitl_gazebo'
+            sh './test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_old_3.txt vehicle:=vtol_standard'
+          }
+          post {
+            always {
+              archiveArtifacts '**/*.ulg'
+              archiveArtifacts '.ros/log/*.log'
+              archiveArtifacts '.ros/test_results/px4/**.xml'
+              //sh './Tools/upload_log.py -q --description "${ghprbPullDescription}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
+            }
+          }
+        }
+
+        stage('ROS mission 6') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-ros:2017-12-30'
+              args '-e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw -e HOME=$WORKSPACE'
+            }
+          }
+          steps {
+            sh 'make clean; rm -rf .ros; rm -rf .gazebo'
+            sh 'make posix_sitl_default'
+            sh 'make posix_sitl_default sitl_gazebo'
+            sh './test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=multirotor_box.mission vehicle:=iris'
+          }
+          post {
+            always {
+              archiveArtifacts '**/*.ulg'
+              archiveArtifacts '.ros/log/*.log'
+              archiveArtifacts '.ros/test_results/px4/**.xml'
+              //sh './Tools/upload_log.py -q --description "${ghprbPullDescription}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
+            }
+          }
+        }
+
+        stage('ROS offboard att') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-ros:2017-12-30'
+              args '-e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw -e HOME=$WORKSPACE'
+            }
+          }
+          steps {
+            sh 'make clean; rm -rf .ros; rm -rf .gazebo'
+            sh 'make posix_sitl_default'
+            sh 'make posix_sitl_default sitl_gazebo'
+            sh './test/rostest_px4_run.sh mavros_posix_tests_offboard_attctl.test'
+          }
+          post {
+            always {
+              archiveArtifacts '**/*.ulg'
+              archiveArtifacts '.ros/log/*.log'
+              archiveArtifacts '.ros/test_results/px4/**.xml'
+              //sh './Tools/upload_log.py -q --description "${ghprbPullDescription}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
+            }
+          }
+        }
+
+        stage('ROS offboard pos') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-ros:2017-12-30'
+              args '-e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw -e HOME=$WORKSPACE'
+            }
+          }
+          steps {
+            sh 'make clean; rm -rf .ros; rm -rf .gazebo'
+            sh 'make posix_sitl_default'
+            sh 'make posix_sitl_default sitl_gazebo'
+            sh './test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test'
+          }
+          post {
+            always {
+              archiveArtifacts '**/*.ulg'
+              archiveArtifacts '.ros/log/*.log'
+              archiveArtifacts '.ros/test_results/px4/**.xml'
+              //sh './Tools/upload_log.py -q --description "${ghprbPullDescription}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
+            }
+          }
+        }
+
         // temporarily disabled until stable
         //stage('tests coverage') {
         //  agent {

Makefile

@@ -279,7 +279,7 @@ format:
 
 # Testing
 # --------------------------------------------------------------------
-.PHONY: tests tests_coverage
+.PHONY: tests tests_coverage tests_mission tests_offboard rostest
 
 tests:
 	@$(MAKE) --no-print-directory posix_sitl_default test_results \
@@ -290,6 +290,18 @@ tests_coverage:
 	@$(MAKE) --no-print-directory posix_sitl_default test_coverage_genhtml PX4_CMAKE_BUILD_TYPE=Coverage
 	@echo "Open $(SRC_DIR)/build/posix_sitl_default/coverage-html/index.html to see coverage"
 
+rostest: posix_sitl_default
+	@$(MAKE) --no-print-directory posix_sitl_default sitl_gazebo
+
+tests_mission: rostest
+	@test/rostest_px4_run.sh mavros_posix_tests_missions.test
+
+tests_offboard: rostest
+	@$(SRC_DIR)/test/rostest_px4_run.sh mavros_posix_tests_offboard_attctl.test
+	@$(SRC_DIR)/test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test
+
+
+
 # static analyzers (scan-build, clang-tidy, cppcheck)
 # --------------------------------------------------------------------
 .PHONY: scan-build posix_sitl_default-clang clang-tidy clang-tidy-fix clang-tidy-quiet cppcheck check_stack

integrationtests/run_container.bash

@@ -1,31 +0,0 @@
-#!/bin/bash
-#
-# Run container and start test execution
-#
-# License: according to LICENSE.md in the root directory of the PX4 Firmware repository
-set -e
-
-if [ -z "$WORKSPACE" ]; then
-    echo "\$WORKSPACE not set"
-    exit 1
-fi
-
-IMAGE=px4io/px4-dev-ros:v1.0
-
-# Pulling latest image
-echo "===> pull latest Docker image"
-docker pull $IMAGE
-
-# removing some images might fail
-set +e
-docker rmi $(docker images --filter "dangling=true" -q --no-trunc)
-set -e
-echo "<==="
-
-#
-# Running SITL testing container
-# Assuming that necessary source projects, including this one, are cloned in the build server workspace of this job.
-#
-echo "===> run container"
-docker run --rm -v "$WORKSPACE:/job:rw" $IMAGE bash "/job/Firmware/integrationtests/run_tests.bash" /job/Firmware
-echo "<==="

integrationtests/run_tests.bash

@@ -1,140 +0,0 @@
-#!/bin/bash
-#
-# Starts tests from within the container
-#
-# License: according to LICENSE.md in the root directory of the PX4 Firmware repository
-set -e
-
-# TODO move to docker image
-pip install --upgrade numpy -q
-pip install px4tools pymavlink toml -q
-
-# A POSIX variable
-OPTIND=1         # Reset in case getopts has been used previously in the shell.
-
-# Initialize our own variables:
-do_clean=true
-gui=false
-
-while getopts "h?og" opt; do
-    case "$opt" in
-    h|\?)
-		echo """
-		$0 [-h] [-o] [-g]
-		-h show help
-		-o don't clean before building (to save time)
-		-g run gazebo gui
-		"""
-        exit 0
-        ;;
-    o)  do_clean=false
-		echo "not cleaning"
-        ;;
-    g)  gui=true
-        ;;
-    esac
-done
-
-
-# determine the directory of the source given the directory of this script
-pushd `dirname $0` > /dev/null
-SCRIPTPATH=`pwd`
-popd > /dev/null
-ORIG_SRC=$(dirname $SCRIPTPATH)
-
-# set paths
-JOB_DIR=$(dirname $ORIG_SRC)
-CATKIN_DIR=$JOB_DIR/catkin
-BUILD_DIR=$CATKIN_DIR/build/px4
-SRC_DIR=${CATKIN_DIR}/src/px4
-
-echo setting up ROS paths
-if [ -f /opt/ros/indigo/setup.bash ]
-then
-	source /opt/ros/indigo/setup.bash
-elif [ -f /opt/ros/kinetic/setup.bash ]
-then
-	source /opt/ros/kinetic/setup.bash
-else
-	echo "could not find /opt/ros/{ros-distro}/setup.bash"
-	exit 1
-fi
-export ROS_HOME=$JOB_DIR/.ros
-export ROS_LOG_DIR=$ROS_HOME/log
-export ROS_TEST_RESULT_DIR=$ROS_HOME/test_results/px4
-export PX4_LOG_DIR=$ROS_HOME/rootfs/fs/microsd/log
-TEST_RESULT_TARGET_DIR=$JOB_DIR/test_results
-
-# TODO
-# BAGS=$ROS_HOME
-# CHARTS=$ROS_HOME/charts
-# EXPORT_CHARTS=/sitl/testing/export_charts.py
-
-if $do_clean
-then
-	echo cleaning
-	rm -rf $CATKIN_DIR
-	rm -rf $ROS_HOME
-	rm -rf $TEST_RESULT_TARGET_DIR
-else
-	echo skipping clean step
-fi
-
-echo "=====> compile ($SRC_DIR)"
-mkdir -p $ROS_HOME
-mkdir -p $CATKIN_DIR/src
-mkdir -p $TEST_RESULT_TARGET_DIR
-if ! [ -d $SRC_DIR ]
-then
-	ln -s $ORIG_SRC $SRC_DIR
-	ln -s $ORIG_SRC/Tools/sitl_gazebo ${CATKIN_DIR}/src/mavlink_sitl_gazebo
-fi
-cd $CATKIN_DIR
-catkin_make
-. ./devel/setup.bash
-echo "<====="
-
-# print paths to user
-echo -e "JOB_DIR\t\t: $JOB_DIR"
-echo -e "ROS_HOME\t: $ROS_HOME"
-echo -e "CATKIN_DIR\t: $CATKIN_DIR"
-echo -e "BUILD_DIR\t: $BUILD_DIR"
-echo -e "SRC_DIR\t\t: $SRC_DIR"
-echo -e "ROS_TEST_RESULT_DIR\t: $ROS_TEST_RESULT_DIR"
-echo -e "ROS_LOG_DIR\t\t: $ROS_LOG_DIR"
-echo -e "PX4_LOG_DIR\t\t: $PX4_LOG_DIR"
-echo -e "TEST_RESULT_TARGET_DIR\t: $TEST_RESULT_TARGET_DIR"
-
-# don't exit on error anymore (because single tests or exports might fail)
-# however, stop executing tests after the first failure
-set +e
-echo "=====> run tests"
-test $? -eq 0 && rostest px4 mavros_posix_tests_iris.launch gui:=$gui
-
-# commented out optical flow test for now since ci server has
-# an issue producing the simulated flow camera currently
-#test $? -eq 0 && rostest px4 mavros_posix_tests_iris_opt_flow.launch gui:=$gui
-
-test $? -eq 0 && rostest px4 mavros_posix_tests_standard_vtol.launch gui:=$gui
-TEST_RESULT=$?
-echo "<====="
-
-# TODO
-echo "=====> process test results"
-# cd $BAGS
-# for bag in `ls *.bag`
-# do
-# 	echo "processing bag: $bag"
-# 	python $EXPORT_CHARTS $CHARTS $bag
-# done
-
-echo "copy build test results to job directory"
-cp -r $ROS_TEST_RESULT_DIR/* ${TEST_RESULT_TARGET_DIR}
-cp -r $ROS_LOG_DIR/* ${TEST_RESULT_TARGET_DIR}
-cp -r $PX4_LOG_DIR/* ${TEST_RESULT_TARGET_DIR}
-# cp $BAGS/*.bag ${TEST_RESULT_TARGET_DIR}/
-# cp -r $CHARTS ${TEST_RESULT_TARGET_DIR}/
-echo "<====="
-
-# need to return error if tests failed, else Jenkins won't notice the failure
-exit $TEST_RESULT

integrationtests/upload_test_logs.bash

@@ -1,19 +0,0 @@
-#!/bin/bash
-#
-# Upload SITL CI logs to Flight Review
-#
-# License: according to LICENSE.md in the root directory of the PX4 Firmware repository
-
-if [ -z "$WORKSPACE" ] || [ -z "${ghprbActualCommitAuthorEmail}" ] || [ -z "${ghprbPullDescription}" ]; then
-    echo "Environment not set. Needs to be called from within Jenkins."
-    exit 1
-fi
-
-echo "Uploading test logs to Flight Review"
-
-CMD="$WORKSPACE/Firmware/Tools/upload_log.py"
-find "$WORKSPACE/test_results" -name \*.ulg -exec "$CMD" -q \
-	--description "${ghprbPullDescription}" --source CI "{}" \;
-
-# XXX: move up if we want email notifications
-#	--email "${ghprbActualCommitAuthorEmail}" \

test/mavros_posix_test_mission.test

@@ -0,0 +1,21 @@
+<launch>
+    <!-- Posix SITL MAVROS integration tests -->
+
+    <arg name="ns" default="/"/>
+    <arg name="headless" default="true"/>
+    <arg name="gui" default="false"/>
+    <arg name="est" default="ekf2"/>
+    <arg name="mission"/>
+
+    <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)"/>
+        <arg name="vehicle" value="standard_vtol"/>
+        <arg name="est" value="$(arg est)"/>
+    </include>
+
+    <group ns="$(arg ns)">
+        <test test-name="mission_test" pkg="px4" type="mission_test.py" time-limit="300.0" args="$(arg mission)" />
+    </group>
+</launch>

test/mavros_posix_tests_iris_opt_flow.test

@@ -19,5 +19,3 @@
         <test test-name="mavros_flow_offboard_attctl_test" pkg="px4" type="mavros_offboard_attctl_test.py" />
     </group>
 </launch>
-
-<!-- vim: set ft=xml et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : -->

test/mavros_posix_tests_missions.test

@@ -15,6 +15,7 @@
     </include>
 
     <group ns="$(arg ns)">
+        <test test-name="multicopter_box" pkg="px4" type="mission_test.py" vehicle="iris" time-limit="120.0" args="multirotor_box.mission"/>
         <test test-name="mission_test_new_1" pkg="px4" type="mission_test.py" time-limit="300.0" args="vtol_new_1.txt" />
         <test test-name="mission_test_new_2" pkg="px4" type="mission_test.py" time-limit="300.0" args="vtol_new_2.txt" />
         <test test-name="mission_test_old_1" pkg="px4" type="mission_test.py" time-limit="300.0" args="vtol_old_1.txt" />
@@ -22,5 +23,3 @@
         <test test-name="mission_test_old_3" pkg="px4" type="mission_test.py" time-limit="300.0" args="vtol_old_3.txt" />
     </group>
 </launch>
-
-<!-- vim: set et ft=xml fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : -->

test/mavros_posix_tests_offboard_attctl.test

@@ -15,10 +15,6 @@
     </include>
 
     <group ns="$(arg ns)">
-        <test test-name="box" pkg="px4" type="mission_test.py" time-limit="120.0" args="multirotor_box.mission"/>
-        <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" time-limit="120.0"/>
     </group>
 </launch>
-
-<!-- vim: set et ft=xml fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : -->

test/mavros_posix_tests_offboard_posctl.test

@@ -0,0 +1,20 @@
+<launch>
+    <!-- Posix SITL MAVROS integration tests -->
+
+    <arg name="ns" default="/"/>
+    <arg name="headless" default="true"/>
+    <arg name="gui" default="false"/>
+    <arg name="est" default="lpe"/>
+
+    <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)"/>
+        <arg name="vehicle" value="iris"/>
+        <arg name="est" value="$(arg est)"/>
+    </include>
+
+    <group ns="$(arg ns)">
+        <test test-name="mavros_offboard_posctl_test" pkg="px4" type="mavros_offboard_posctl_test.py" time-limit="120.0"/>
+    </group>
+</launch>

test/rostest_px4_run.sh

@@ -0,0 +1,11 @@
+#! /bin/bash
+
+DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
+PX4_SRC_DIR=${DIR}/..
+
+source /opt/ros/kinetic/setup.bash
+source ${PX4_SRC_DIR}/Tools/setup_gazebo.bash ${PX4_SRC_DIR} ${PX4_SRC_DIR}/build/posix_sitl_default
+
+export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:${PX4_SRC_DIR}:${PX4_SRC_DIR}/Tools/sitl_gazebo
+
+rostest px4 "$@"