From e91275bcb49dbba93d609d9c220e5ad2039c5ba8 Mon Sep 17 00:00:00 2001
From: Anthony Lamping <lamping.ap@gmail.com>
Date: Sat, 31 Mar 2018 08:25:47 -0400
Subject: [PATCH] CI: test launch files: setup for different vehicles, some
 reordering

---
 test/mavros_posix_test_mission.test          |  9 ++++----
 test/mavros_posix_tests_iris_opt_flow.test   |  7 +++---
 test/mavros_posix_tests_missions.test        | 24 ++++++++++----------
 test/mavros_posix_tests_offboard_attctl.test | 12 +++++-----
 test/mavros_posix_tests_offboard_posctl.test | 12 +++++-----
 5 files changed, 31 insertions(+), 33 deletions(-)

diff --git a/test/mavros_posix_test_mission.test b/test/mavros_posix_test_mission.test
index c070389a04..74ed4903de 100644
--- a/test/mavros_posix_test_mission.test
+++ b/test/mavros_posix_test_mission.test
@@ -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 -->
diff --git a/test/mavros_posix_tests_iris_opt_flow.test b/test/mavros_posix_tests_iris_opt_flow.test
index 7df79263b5..606ecf442d 100644
--- a/test/mavros_posix_tests_iris_opt_flow.test
+++ b/test/mavros_posix_tests_iris_opt_flow.test
@@ -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="$(arg respawn_gazebo)"/>
+        <arg name="respawn_gazebo" value="true"/>
         <arg name="respawn_mavros" value="true"/>
     </include>
     <!-- ROStest -->
diff --git a/test/mavros_posix_tests_missions.test b/test/mavros_posix_tests_missions.test
index 115beed4e3..7d4aa73313 100644
--- a/test/mavros_posix_tests_missions.test
+++ b/test/mavros_posix_tests_missions.test
@@ -1,23 +1,23 @@
 <?xml version="1.0"?>
 <launch>
     <!-- Posix SITL MAVROS integration tests -->
-    <!-- Test all missions with standard VTOL -->
-    <arg name="gui" default="false"/>
+    <!-- Test all missions -->
     <arg name="est" default="ekf2"/>
-    <arg name="respawn_gazebo" default="true"/>
+    <arg name="gui" default="false"/>
+    <arg name="vehicle" default="standard_vtol"/>
     <!-- MAVROS, PX4 SITL, Gazebo -->
     <include file="$(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>
diff --git a/test/mavros_posix_tests_offboard_attctl.test b/test/mavros_posix_tests_offboard_attctl.test
index e1148b6f2e..df6bd43441 100644
--- a/test/mavros_posix_tests_offboard_attctl.test
+++ b/test/mavros_posix_tests_offboard_attctl.test
@@ -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="$(arg vehicle)"/>
+        <arg name="respawn_gazebo" value="true"/>
         <arg name="respawn_mavros" value="true"/>
     </include>
     <!-- ROStest -->
diff --git a/test/mavros_posix_tests_offboard_posctl.test b/test/mavros_posix_tests_offboard_posctl.test
index ed88054344..dea45da03a 100644
--- a/test/mavros_posix_tests_offboard_posctl.test
+++ b/test/mavros_posix_tests_offboard_posctl.test
@@ -1,16 +1,16 @@
 <?xml version="1.0"?>
 <launch>
     <!-- Posix SITL MAVROS integration tests -->
-    <!-- Test offboard local posistion control with iris -->
-    <arg name="gui" default="false"/>
+    <!-- Test offboard local posistion control -->
     <arg name="est" default="ekf2"/>
-    <arg name="respawn_gazebo" default="true"/>
+    <arg name="gui" default="false"/>
+    <arg name="vehicle" default="iris"/>
     <!-- MAVROS, PX4 SITL, Gazebo -->
     <include file="$(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 -->