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CI: test launch files: setup for different vehicles, some reordering

sbg
Anthony Lamping 7 years ago committed by Daniel Agar
parent
171a65c1cb
commit
e91275bcb4
5 changed files with 31 additions and 33 deletions
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  1. 9
      test/mavros_posix_test_mission.test
  2. 7
      test/mavros_posix_tests_iris_opt_flow.test
  3. 24
      test/mavros_posix_tests_missions.test
  4. 12
      test/mavros_posix_tests_offboard_attctl.test
  5. 12
      test/mavros_posix_tests_offboard_posctl.test

9
test/mavros_posix_test_mission.test
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@ -2,17 +2,16 @@ @@ -2,17 +2,16 @@
<launch>
<!-- Posix SITL MAVROS integration tests -->
<!-- Test a mission -->
<arg name="gui" default="false"/>
<arg name="est" default="ekf2"/>
<arg name="gui" default="false"/>
<arg name="vehicle" default="iris"/>
<arg name="mission"/>
<arg name="vehicle"/>
<arg name="respawn_gazebo" default="true"/>
<!-- MAVROS, PX4 SITL, Gazebo -->
<include file="$(find px4)/launch/mavros_posix_sitl.launch">
<arg name="est" value="$(arg est)"/>
<arg name="gui" value="$(arg gui)"/>
<arg name="vehicle" value="$(arg vehicle)"/>
<arg name="est" value="$(arg est)"/>
<arg name="respawn_gazebo" value="$(arg respawn_gazebo)"/>
<arg name="respawn_gazebo" value="true"/>
<arg name="respawn_mavros" value="true"/>
</include>
<!-- ROStest -->

7
test/mavros_posix_tests_iris_opt_flow.test
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@ -2,15 +2,14 @@ @@ -2,15 +2,14 @@
<launch>
<!-- Posix SITL MAVROS integration tests -->
<!-- Test offboard local posistion and attitude control with optical flow iris -->
<arg name="gui" default="false"/>
<arg name="est" default="ekf2"/>
<arg name="respawn_gazebo" default="true"/>
<arg name="gui" default="false"/>
<!-- MAVROS, PX4 SITL, Gazebo -->
<include file="$(find px4)/launch/mavros_posix_sitl.launch">
<arg name="est" value="$(arg est)"/>
<arg name="gui" value="$(arg gui)"/>
<arg name="vehicle" value="iris_opt_flow"/>
<arg name="est" value="$(arg est)"/>
<arg name="respawn_gazebo" value="$(arg respawn_gazebo)"/>
<arg name="respawn_gazebo" value="true"/>
<arg name="respawn_mavros" value="true"/>
</include>
<!-- ROStest -->

24
test/mavros_posix_tests_missions.test
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@ -1,23 +1,23 @@ @@ -1,23 +1,23 @@
<?xml version="1.0"?>
<launch>
<!-- Posix SITL MAVROS integration tests -->
<!-- Test all missions with standard VTOL -->
<arg name="gui" default="false"/>
<!-- Test all missions -->
<arg name="est" default="ekf2"/>
<arg name="respawn_gazebo" default="true"/>
<arg name="gui" default="false"/>
<arg name="vehicle" default="standard_vtol"/>
<!-- MAVROS, PX4 SITL, Gazebo -->
<include file="$(find px4)/launch/mavros_posix_sitl.launch">
<arg name="gui" value="$(arg gui)"/>
<arg name="vehicle" value="standard_vtol"/>
<arg name="est" value="$(arg est)"/>
<arg name="respawn_gazebo" value="$(arg respawn_gazebo)"/>
<arg name="gui" value="$(arg gui)"/>
<arg name="vehicle" value="$(arg vehicle)"/>
<arg name="respawn_gazebo" value="true"/>
<arg name="respawn_mavros" value="true"/>
</include>
<!-- ROStest -->
<test test-name="multicopter_box" pkg="px4" type="mission_test.py" time-limit="300.0" args="multirotor_box.plan"/>
<test test-name="mission_test_new_1" pkg="px4" type="mission_test.py" time-limit="300.0" args="vtol_new_1.plan"/>
<test test-name="mission_test_new_2" pkg="px4" type="mission_test.py" time-limit="300.0" args="vtol_new_2.plan"/>
<test test-name="mission_test_old_1" pkg="px4" type="mission_test.py" time-limit="300.0" args="vtol_old_1.plan"/>
<test test-name="mission_test_old_2" pkg="px4" type="mission_test.py" time-limit="300.0" args="vtol_old_2.plan"/>
<test test-name="mission_test_old_3" pkg="px4" type="mission_test.py" time-limit="300.0" args="vtol_old_3.plan"/>
<test test-name="multirotor_box" pkg="px4" type="mission_test.py" time-limit="300.0" args="multirotor_box.plan"/>
<test test-name="vtol_new_1" pkg="px4" type="mission_test.py" time-limit="300.0" args="vtol_new_1.plan"/>
<test test-name="vtol_new_2" pkg="px4" type="mission_test.py" time-limit="300.0" args="vtol_new_2.plan"/>
<test test-name="vtol_old_1" pkg="px4" type="mission_test.py" time-limit="300.0" args="vtol_old_1.plan"/>
<test test-name="vtol_old_2" pkg="px4" type="mission_test.py" time-limit="300.0" args="vtol_old_2.plan"/>
<test test-name="vtol_old_3" pkg="px4" type="mission_test.py" time-limit="300.0" args="vtol_old_3.plan"/>
</launch>

12
test/mavros_posix_tests_offboard_attctl.test
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@ -1,16 +1,16 @@ @@ -1,16 +1,16 @@
<?xml version="1.0"?>
<launch>
<!-- Posix SITL MAVROS integration tests -->
<!-- Test offboard attitude control with iris -->
<arg name="gui" default="false"/>
<!-- Test offboard attitude control -->
<arg name="est" default="ekf2"/>
<arg name="respawn_gazebo" default="true"/>
<arg name="gui" default="false"/>
<arg name="vehicle" default="iris"/>
<!-- MAVROS, PX4 SITL, Gazebo -->
<include file="$(find px4)/launch/mavros_posix_sitl.launch">
<arg name="gui" value="$(arg gui)"/>
<arg name="vehicle" value="iris"/>
<arg name="est" value="$(arg est)"/>
<arg name="respawn_gazebo" value="$(arg respawn_gazebo)"/>
<arg name="gui" value="$(arg gui)"/>
<arg name="vehicle" value="$(arg vehicle)"/>
<arg name="respawn_gazebo" value="true"/>
<arg name="respawn_mavros" value="true"/>
</include>
<!-- ROStest -->

12
test/mavros_posix_tests_offboard_posctl.test
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@ -1,16 +1,16 @@ @@ -1,16 +1,16 @@
<?xml version="1.0"?>
<launch>
<!-- Posix SITL MAVROS integration tests -->
<!-- Test offboard local posistion control with iris -->
<arg name="gui" default="false"/>
<!-- Test offboard local posistion control -->
<arg name="est" default="ekf2"/>
<arg name="respawn_gazebo" default="true"/>
<arg name="gui" default="false"/>
<arg name="vehicle" default="iris"/>
<!-- MAVROS, PX4 SITL, Gazebo -->
<include file="$(find px4)/launch/mavros_posix_sitl.launch">
<arg name="gui" value="$(arg gui)"/>
<arg name="vehicle" value="iris"/>
<arg name="est" value="$(arg est)"/>
<arg name="respawn_gazebo" value="$(arg respawn_gazebo)"/>
<arg name="gui" value="$(arg gui)"/>
<arg name="vehicle" value="$(arg vehicle)"/>
<arg name="respawn_gazebo" value="true"/>
<arg name="respawn_mavros" value="true"/>
</include>
<!-- ROStest -->

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