From b2fd8abf9e9ff598139d095543efa838afef96aa Mon Sep 17 00:00:00 2001
From: TSC21 <n.marques21@hotmail.com>
Date: Wed, 12 Dec 2018 20:07:05 +0000
Subject: [PATCH] CI: add rostest to 'px4' and MAVROS in caktin and colcon
 builds

---
 Jenkinsfile                         | 9 ++++++++-
 launch/multi_uav_mavros_sitl.launch | 2 +-
 launch/posix_sitl.launch            | 1 -
 launch/px4.launch                   | 1 -
 4 files changed, 9 insertions(+), 4 deletions(-)

diff --git a/Jenkinsfile b/Jenkinsfile
index a01f41dd95..3a7186c2ed 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -19,11 +19,17 @@ pipeline {
               echo $0;
               mkdir -p catkin_ws/src;
               cd catkin_ws;
+              // ln -s Firmware/Tools/sitl_gazebo src/mavlink_sitl_gazebo;
               source /opt/ros/melodic/setup.bash;
               catkin init;
-              source devel/setup.bash;
               catkin build -j$(nproc) -l$(nproc);
             '''
+            // test if the binary was correctly installed and runs using 'mavros_posix_silt.launch'
+            //sh '''#!/bin/bash -l
+            //  echo $0;
+            //  source catkin_ws/devel/setup.bash;
+            //  rostest px4 pub_test.launch;
+            //'''
           }
           post {
             always {
@@ -49,6 +55,7 @@ pipeline {
               unset ROS_DISTRO;
               mkdir -p colcon_ws/src;
               cd colcon_ws;
+              // ln -s Firmware/Tools/sitl_gazebo src/mavlink_sitl_gazebo;
               source /opt/ros/bouncy/setup.sh;
               colcon build --event-handlers console_direct+ --symlink-install;
             '''
diff --git a/launch/multi_uav_mavros_sitl.launch b/launch/multi_uav_mavros_sitl.launch
index 1baa7c233d..b000b30e52 100644
--- a/launch/multi_uav_mavros_sitl.launch
+++ b/launch/multi_uav_mavros_sitl.launch
@@ -21,7 +21,7 @@
     </include>
     <!-- UAV1 -->
     <group ns="uav1">
-        <!-- MAVROS and vehicle configs -->        
+        <!-- MAVROS and vehicle configs -->
         <arg name="ID" value="1"/>
         <arg name="fcu_url" default="udp://:14541@localhost:14581"/>
         <!-- PX4 SITL and vehicle spawn -->
diff --git a/launch/posix_sitl.launch b/launch/posix_sitl.launch
index 69fe92e984..207bd7ca76 100644
--- a/launch/posix_sitl.launch
+++ b/launch/posix_sitl.launch
@@ -43,4 +43,3 @@
     <!-- gazebo model -->
     <node name="$(anon vehicle_spawn)" pkg="gazebo_ros" type="spawn_model" output="screen" args="-sdf -file $(arg sdf) -model $(arg vehicle) -x $(arg x) -y $(arg y) -z $(arg z) -R $(arg R) -P $(arg P) -Y $(arg Y)"/>
 </launch>
-
diff --git a/launch/px4.launch b/launch/px4.launch
index bdaf3a88bb..74ab5b0ab5 100644
--- a/launch/px4.launch
+++ b/launch/px4.launch
@@ -16,4 +16,3 @@
     <node name="sitl_$(arg ID)" pkg="px4" type="px4" output="screen" args="$(find px4)/ROMFS/px4fmu_common -s etc/init.d-posix/rcS -i $(arg ID) $(arg px4_command_arg1)">
     </node>
 </launch>
-