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ci(mavros): merge mission+offboard into one workflow, migrate to noetic and Python 3

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Consolidate mavros_mission_tests.yml and mavros_offboard_tests.yml into a
single mavros_tests.yml with a matrix strategy. Switch from docker-in-docker
with px4-dev-ros-melodic to a native container using px4-dev-ros-noetic,
enabling ccache and composite actions (setup-ccache, build-gazebo-sitl,
save-ccache). Migrate all five MAVROS Python test files from Python 2 to
Python 3 (remove six/xrange, from __future__ imports, replace px4tools
with pyulog for estimator analysis). Bump git-auto-commit-action from v4
to v7 in ekf_update_change_indicator.yml.

Signed-off-by: Ramon Roche <mrpollo@gmail.com>
This commit is contained in:
Ramon Roche
2026-04-10 00:47:17 -06:00
parent 9eddd0cdbc
commit 0f15eea283
9 changed files with 142 additions and 136 deletions
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integrationtests/python_src/px4_it/mavros/mavros_test_common.py
+10 -12
View File
@@ -1,5 +1,4 @@
#!/usr/bin/env python2
from __future__ import division
#!/usr/bin/env python3
import unittest
import rospy
@@ -11,7 +10,6 @@ from mavros_msgs.srv import CommandBool, ParamGet, ParamSet, SetMode, SetModeReq
WaypointPush
from pymavlink import mavutil
from sensor_msgs.msg import NavSatFix, Imu
from six.moves import xrange
class MavrosTestCommon(unittest.TestCase):
@@ -183,7 +181,7 @@ class MavrosTestCommon(unittest.TestCase):
loop_freq = 1 # Hz
rate = rospy.Rate(loop_freq)
arm_set = False
for i in xrange(timeout * loop_freq):
for i in range(timeout * loop_freq):
if self.state.armed == arm:
arm_set = True
rospy.loginfo("set arm success | seconds: {0} of {1}".format(
@@ -213,7 +211,7 @@ class MavrosTestCommon(unittest.TestCase):
loop_freq = 1 # Hz
rate = rospy.Rate(loop_freq)
mode_set = False
for i in xrange(timeout * loop_freq):
for i in range(timeout * loop_freq):
if self.state.mode == mode:
mode_set = True
rospy.loginfo("set mode success | seconds: {0} of {1}".format(
@@ -247,7 +245,7 @@ class MavrosTestCommon(unittest.TestCase):
loop_freq = 1 # Hz
rate = rospy.Rate(loop_freq)
param_set = False
for i in xrange(timeout * loop_freq):
for i in range(timeout * loop_freq):
try:
res = self.set_param_srv(param_id, param_value)
if res.success:
@@ -274,7 +272,7 @@ class MavrosTestCommon(unittest.TestCase):
loop_freq = 1 # Hz
rate = rospy.Rate(loop_freq)
simulation_ready = False
for i in xrange(timeout * loop_freq):
for i in range(timeout * loop_freq):
if all(value for value in self.sub_topics_ready.values()):
simulation_ready = True
rospy.loginfo("simulation topics ready | seconds: {0} of {1}".
@@ -297,7 +295,7 @@ class MavrosTestCommon(unittest.TestCase):
loop_freq = 10 # Hz
rate = rospy.Rate(loop_freq)
landed_state_confirmed = False
for i in xrange(timeout * loop_freq):
for i in range(timeout * loop_freq):
if self.extended_state.landed_state == desired_landed_state:
landed_state_confirmed = True
rospy.loginfo("landed state confirmed | seconds: {0} of {1}".
@@ -325,7 +323,7 @@ class MavrosTestCommon(unittest.TestCase):
loop_freq = 10 # Hz
rate = rospy.Rate(loop_freq)
transitioned = False
for i in xrange(timeout * loop_freq):
for i in range(timeout * loop_freq):
if transition == self.extended_state.vtol_state:
rospy.loginfo("transitioned | seconds: {0} of {1}".format(
i / loop_freq, timeout))
@@ -348,7 +346,7 @@ class MavrosTestCommon(unittest.TestCase):
loop_freq = 1 # Hz
rate = rospy.Rate(loop_freq)
wps_cleared = False
for i in xrange(timeout * loop_freq):
for i in range(timeout * loop_freq):
if not self.mission_wp.waypoints:
wps_cleared = True
rospy.loginfo("clear waypoints success | seconds: {0} of {1}".
@@ -381,7 +379,7 @@ class MavrosTestCommon(unittest.TestCase):
rate = rospy.Rate(loop_freq)
wps_sent = False
wps_verified = False
for i in xrange(timeout * loop_freq):
for i in range(timeout * loop_freq):
if not wps_sent:
try:
res = self.wp_push_srv(start_index=0, waypoints=waypoints)
@@ -417,7 +415,7 @@ class MavrosTestCommon(unittest.TestCase):
loop_freq = 1 # Hz
rate = rospy.Rate(loop_freq)
res = False
for i in xrange(timeout * loop_freq):
for i in range(timeout * loop_freq):
try:
res = self.get_param_srv('MAV_TYPE')
if res.success: