enable avoidance test

.ci/Jenkinsfile-SITL_tests

@@ -86,13 +86,13 @@ pipeline {
               mission: "VTOL_mission_1",
               vehicle: "tiltrotor"
             ],
-            // [
+            [
-            //   name: "MC_avoidance",
+              name: "MC_avoidance",
-            //   test: "mavros_posix_test_avoidance.test",
+              test: "mavros_posix_test_avoidance.test",
-            //   mission: "avoidance",
+              mission: "avoidance",
-            //   vehicle: "iris_obs_avoid",
+              vehicle: "iris_obs_avoid",
-            //   run_script: "rostest_avoidance_run.sh"
+              run_script: "rostest_avoidance_run.sh"
-            // ],
+            ],
             // [
             //   name: "MC_safe_landing",
             //   test: "mavros_posix_test_safe_landing.test",

test/mavros_posix_test_avoidance.test

@@ -23,7 +23,7 @@
     <!-- MAVROS -->
     <include file="$(find mavros)/launch/node.launch">
         <arg name="pluginlists_yaml" value="$(find mavros)/launch/px4_pluginlists.yaml"/>
-        <arg name="config_yaml" value="$(find mavros)/launch/px4_config.yaml"/>
+        <arg name="config_yaml" value="$(find local_planner)/resource/px4_config.yaml"/>
         <arg name="gcs_url" value=""/>
         <arg name="fcu_url" value="udp://:14540@localhost:14557"/>
         <arg name="tgt_system" value="1"/>

test/rostest_avoidance_run.sh

@@ -6,7 +6,7 @@ PX4_SRC_DIR=${DIR}/..
 source /opt/ros/${ROS_DISTRO:-kinetic}/setup.bash
 mkdir -p ${PX4_SRC_DIR}/catkin_ws/src
 cd ${PX4_SRC_DIR}/catkin_ws/
-git clone -b 0.3.0 --single-branch --depth 1 https://github.com/PX4/avoidance.git src/avoidance
+git clone -b 0.3.1 --single-branch --depth 1 https://github.com/PX4/avoidance.git src/avoidance
 
 catkin init
 catkin build local_planner safe_landing_planner --cmake-args -DCMAKE_BUILD_TYPE=Release