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Integration Testing using ROS

This topic explains how to run (and extend) PX4’s ROS-based integration tests.

:::note MAVSDK Integration Testing is preferred when writing new tests. Use the ROS-based integration test framework for use cases that require ROS (e.g. object avoidance).

All PX4 integraton tests are executed automatically by our Continuous Integration system. :::

Prerequisites:

Execute Tests

To run the MAVROS tests:

source <catkin_ws>/devel/setup.bash
cd <PX4-Autopilot_clone>
make px4_sitl_default sitl_gazebo
make <test_target>

test_target is a makefile targets from the set: tests_mission, tests_mission_coverage, tests_offboard and tests_avoidance.

Test can also be executed directly by running the test scripts, located under test/:

source <catkin_ws>/devel/setup.bash
cd <PX4-Autopilot_clone>
make px4_sitl_default sitl_gazebo
./test/<test_bash_script> <test_launch_file>

For example:

./test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test

Tests can also be run with a GUI to see what’s happening (by default the tests run “headless”):

./test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test gui:=true headless:=false

The .test files launch the corresponding Python tests defined in integrationtests/python_src/px4_it/mavros/

Write a New MAVROS Test (Python)

This section explains how to write a new python test using ROS(1)/MAVROS, test it, and add it to the PX4 test suite.

We recommend you review the existing tests as examples/inspiration (integrationtests/python_src/px4_it/mavros/). The official ROS documentation also contains information on how to use unittest (on which this test suite is based).

To write a new test:

Create a new test script by copying the empty test skeleton below:

 #!/usr/bin/env python
 # [... LICENSE ...]

 #
 # @author Example Author <[email protected]>
 #
 PKG = 'px4'

 import unittest
 import rospy
 import rosbag

 from sensor_msgs.msg import NavSatFix

 class MavrosNewTest(unittest.TestCase):
     """
     Test description
     """

     def setUp(self):
         rospy.init_node('test_node', anonymous=True)
         rospy.wait_for_service('mavros/cmd/arming', 30)

         rospy.Subscriber("mavros/global_position/global", NavSatFix, self.global_position_callback)
         self.rate = rospy.Rate(10) # 10hz
         self.has_global_pos = False

     def tearDown(self):
         pass

     #
     # General callback functions used in tests
     #
     def global_position_callback(self, data):
         self.has_global_pos = True

     def test_method(self):
         """Test method description"""

         # FIXME: hack to wait for simulation to be ready
         while not self.has_global_pos:
             self.rate.sleep()

         # TODO: execute test

 if __name__ == '__main__':
     import rostest
     rostest.rosrun(PKG, 'mavros_new_test', MavrosNewTest)

Run the new test only

Start the simulator:

   cd <PX4-Autopilot_clone>
   source Tools/setup_gazebo.bash
   roslaunch launch/mavros_posix_sitl.launch

Run test (in a new shell):

  cd <PX4-Autopilot_clone>
  source Tools/setup_gazebo.bash
  rosrun px4 mavros_new_test.py

Add new test node to a launch file
- In test/ create a new <test_name>.test ROS launch file.
- Call the test file using one of the base scripts rostest_px4_run.sh or rostest_avoidance_run.sh
(Optional) Create a new target in the Makefile
- Open the Makefile
- Search the Testing section
- Add a new target name and call the test
For example:
```
 tests_<new_test_target_name>: rostest
     @"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_<new_test>.test
```

Run the tests as described above.