diff --git a/docs/ko/SUMMARY.md b/docs/ko/SUMMARY.md index 7d9dbbd1c5..39d936e031 100644 --- a/docs/ko/SUMMARY.md +++ b/docs/ko/SUMMARY.md @@ -181,6 +181,7 @@ - [Holybro Kakute H7v2](flight_controller/kakuteh7v2.md) - [Holybro Kakute H7mini](flight_controller/kakuteh7mini.md) - [Holybro Kakute H7](flight_controller/kakuteh7.md) + - [Holybro Kakute H7 Wing](flight_controller/kakuteh7-wing.md) - [Holybro Durandal](flight_controller/durandal.md) - [Wiring Quickstart](assembly/quick_start_durandal.md) - [Holybro Pix32 v5](flight_controller/holybro_pix32_v5.md) @@ -808,8 +809,10 @@ - [시험 MC_05 - 실내 비행 (수동 모드)](test_cards/mc_05_indoor_flight_manual_modes.md) - [단위 테스트](test_and_ci/unit_tests.md) - [지속 통합](test_and_ci/continous_integration.md) - - [MAVSDK 통합 테스트](test_and_ci/integration_testing_mavsdk.md) - - [ROS 통합 테스트](test_and_ci/integration_testing.md) + - [Integration Testing](test_and_ci/integration_testing.md) + - [MAVSDK 통합 테스트](test_and_ci/integration_testing_mavsdk.md) + - [PX4 ROS2 Interface Library Integration Testing](test_and_ci/integration_testing_px4_ros2_interface.md) + - [ROS 1 Integration Testing](test_and_ci/integration_testing_ros1_mavros.md) - [도커 컨테이너](test_and_ci/docker.md) - [유지보수](test_and_ci/maintenance.md) diff --git a/docs/ko/dev_log/ulog_file_format.md b/docs/ko/dev_log/ulog_file_format.md index a5bdaef9e0..f104685724 100644 --- a/docs/ko/dev_log/ulog_file_format.md +++ b/docs/ko/dev_log/ulog_file_format.md @@ -499,8 +499,8 @@ Since the Definitions and Data Sections use the same message header format, they - [MAVGAnalysis](https://github.com/ecmnet/MAVGCL): Java, ULog streaming via MAVLink and parser for plotting and analysis. - [PlotJuggler](https://github.com/facontidavide/PlotJuggler): C++/Qt application to plot logs and time series. 버전 2.1.3부터 ULog를 지원합니다. - [ulogreader](https://github.com/maxsun/ulogreader): Javascript, ULog reader and parser outputs log in JSON object format. -- [Foxglove Studio](https://github.com/foxglove/studio): an integrated visualization and diagnosis tool for robotics - (Typescript ULog parser: https://github.com/foxglove/ulog). +- [Foxglove](https://foxglove.dev): an integrated visualization and diagnosis tool for robotics data that supports ULog files. +- [TypeScript ULog parser](https://github.com/foxglove/ulog): TypeScript, ULog reader that outputs JS objects. ## 파일 형식 버전 이력 diff --git a/docs/ko/flight_controller/kakuteh7-wing.md b/docs/ko/flight_controller/kakuteh7-wing.md new file mode 100644 index 0000000000..4977f57f23 --- /dev/null +++ b/docs/ko/flight_controller/kakuteh7-wing.md @@ -0,0 +1,84 @@ +# Holybro Kakute H7 V2 + +:::warning +PX4 does not manufacture this (or any) autopilot. +Contact the [manufacturer](https://holybro.com/) for hardware support or compliance issues. +::: + +The [Holybro Kakute H743 Wing](https://holybro.com/products/kakute-h743-wing) is a fully featured flight controller specifically aimed at fixed-wing and VTOL applications. It has the STM32 H743 Processor running at 480 MHz and CAN Bus support, along with dual camera support & switch, ON/OFF Pit Switch, 5V, 6V/8V, 9V/12 BEC, and plug-and-play GPS, CAN, I2C ports. + +:::info +This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md). +::: + +## 구매처 + +The board can be bought from one of the following shops (for example): + +- [Holybro](https://holybro.com/products/kakute-h743-wing) + +## 커넥터 및 핀 + +| 핀 | 기능 | 기본값 | +| ---------------- | --------------------------------- | ------------------------------------------------------------- | +| GPS 1 | USART1 and I2C1 | GPS1 | +| R2, T2 | USART2 RX and TX | GPS2 | +| R3, T3 | USART3 RX and TX | TELEM1 | +| R5, T5 | USART5 RX and TX | TELEM2 | +| R6, T6 | USART6 RX and TX | RC (PPM, SBUS, etc.) input | +| R7, T7, RTS, CTS | UART7 RX and TX with flow control | TELEM3 | +| R8, T8 | UART8 RX and TX | Console | +| Buz-, Buz+ | Piezo buzzer | | +| M1 to M14 | Motor signal outputs | | + + + +## 부트로더 업데이트 + +The board comes pre-installed with [Betaflight](https://github.com/betaflight/betaflight/wiki). +Before the PX4 firmware can be installed, the _PX4 bootloader_ must be flashed. +Download the [holybro_kakuteh7-wing.hex](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/flight_controller/kakuteh7-wing/holybro_kakuteh7-wing_bootloader.hex) bootloader binary and read [this page](../advanced_config/bootloader_update_from_betaflight.md) for flashing instructions. + +## 펌웨어 빌드 + +To [build PX4](../dev_setup/building_px4.md) for this target: + +``` +make holybro_kakuteh7-wing_default +``` + +## 펌웨어 설치 + +:::info +KakuteH7-wing is supported with PX4 master & PX4 v1.16 or newer.. +Prior to that release you will need to manually build and install the firmware. +::: + +Firmware can be manually installed in any of the normal ways: + +- Build and upload the source: + + ``` + make holybro_kakuteh7-wing_default upload + ``` + +- [Load the firmware](../config/firmware.md) using _QGroundControl_. + 미리 빌드된 펌웨어나 사용자 지정 펌웨어를 사용할 수 있습니다. + +## 시리얼 포트 매핑 + +| UART | 장치 | 포트 | Default function | +| ------ | ---------- | --------------------------- | ---------------- | +| USART1 | /dev/ttyS0 | GPS 1 | GPS1 | +| USART2 | /dev/ttyS1 | R2, T2 | GPS2 | +| USART3 | /dev/ttyS2 | R3, T3 | TELEM1 | +| UART5 | /dev/ttyS3 | R5, T5 | TELEM2 | +| USART6 | /dev/ttyS4 | R6, (T6) | RC 입력 | +| UART7 | /dev/ttyS5 | R7, T7, RTS, CTS | TELEM3 | +| UART8 | /dev/ttyS6 | R8, T8 | Console | + +## 디버그 포트 + +### 시스템 콘솔 + +UART8 RX and TX are configured for use as the [System Console](../debug/system_console.md). diff --git a/docs/ko/mavlink/streaming_messages.md b/docs/ko/mavlink/streaming_messages.md index 6b48a05d87..4934f90fcd 100644 --- a/docs/ko/mavlink/streaming_messages.md +++ b/docs/ko/mavlink/streaming_messages.md @@ -153,31 +153,39 @@ Most streaming classes are very similar (see examples in [/src/modules/mavlink/s We iterate the array and use `update()` on each subscription to check if the associated battery instance has changed (and update a structure with the current data). This allows us to send the MAVLink message _only_ if the associated battery uORB topic has changed: - // Struct to hold current topic data. - battery_status_s battery_status; - - // update() populates battery_status and returns true if the status has changed - if (battery_sub.update(&battery_status)) { - // Use battery_status to populate message and send - } + ```cpp + // Struct to hold current topic data. + battery_status_s battery_status; + + // update() populates battery_status and returns true if the status has changed + if (battery_sub.update(&battery_status)) { + // Use battery_status to populate message and send + } + ``` If wanted to send a MAVLink message whether or not the data changed, we could instead use `copy()` as shown: - battery_status_s battery_status; - battery_sub.copy(&battery_status); + ```cpp + battery_status_s battery_status; + battery_sub.copy(&battery_status); + ``` ::: info For a single-instance topic like [VehicleStatus](../msg_docs/VehicleStatus.md) we would subscribe like this: - // Create subscription _vehicle_status_sub - uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)}; + ```cpp + // Create subscription _vehicle_status_sub + uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)}; + ``` And we could use the resulting subscription in the same way with update or copy. - vehicle_status_s vehicle_status{}; // vehicle_status_s is the definition of the uORB topic - if (_vehicle_status_sub.update(&vehicle_status)) { - // Use the vehicle_status as it has been updated. - } + ```cpp + vehicle_status_s vehicle_status{}; // vehicle_status_s is the definition of the uORB topic + if (_vehicle_status_sub.update(&vehicle_status)) { + // Use the vehicle_status as it has been updated. + } + ``` ::: diff --git a/docs/ko/releases/main.md b/docs/ko/releases/main.md index 0dfa0ecfaa..0e6c07f146 100644 --- a/docs/ko/releases/main.md +++ b/docs/ko/releases/main.md @@ -2,6 +2,17 @@ + + +
+
+

This page is on a release bramch, and hence probably out of date. See the latest version.

+
+
+ This contains changes to PX4 `main` branch since the last major release ([PX v1.15](../releases/1.15.md)). :::warning diff --git a/docs/ko/ros2/px4_ros2_interface_lib.md b/docs/ko/ros2/px4_ros2_interface_lib.md index a607d7ee46..5ec5b7cc91 100644 --- a/docs/ko/ros2/px4_ros2_interface_lib.md +++ b/docs/ko/ros2/px4_ros2_interface_lib.md @@ -55,20 +55,4 @@ To get started using the library within an existing ROS 2 workspace: When opening a pull request to PX4, CI runs the library integration tests. These test that mode registration, failsafes, and mode replacement, work as expected. -The tests can also be run locally from PX4: - -```sh -./test/ros_test_runner.py -``` - -And to run only a single case: - -```sh -./test/ros_test_runner.py --verbose --case -``` - -You can list the available test cases with: - -```sh -./test/ros_test_runner.py --list-cases -``` +For more information see [PX4 ROS2 Interface Library Integration Testing](../test_and_ci/integration_testing_px4_ros2_interface.md). \ No newline at end of file diff --git a/docs/ko/sim_gazebo_gz/index.md b/docs/ko/sim_gazebo_gz/index.md index 6013548b47..a106d313e8 100644 --- a/docs/ko/sim_gazebo_gz/index.md +++ b/docs/ko/sim_gazebo_gz/index.md @@ -131,6 +131,21 @@ The simulation can be run in headless mode by prefixing the command with the `HE HEADLESS=1 make px4_sitl gz_x500 ``` +### Set Custom Takeoff Location + +The takeoff location in Gazebo Classic can be set using environment variables. + +The variables to set are: PX4_HOME_LAT, PX4_HOME_LON, and PX4_HOME_ALT. + +예: + +``` +export PX4_HOME_LAT=51.1788 +export PX4_HOME_LON=-1.8263 +export PX4_HOME_ALT=101 +make px4_sitl gz_x500 +``` + ### Specify World The simulation can be run inside a particular world by concatenating the desired world to the name of the desired vehicle. diff --git a/docs/ko/sim_gazebo_gz/multi_vehicle_simulation.md b/docs/ko/sim_gazebo_gz/multi_vehicle_simulation.md index edb47bdca0..b2821b6dc5 100644 --- a/docs/ko/sim_gazebo_gz/multi_vehicle_simulation.md +++ b/docs/ko/sim_gazebo_gz/multi_vehicle_simulation.md @@ -35,23 +35,31 @@ This allows for greater flexibility and customization. [Multiple vehicles with ROS 2](../ros2/multi_vehicle.md) are possible. - First follow the installation instructions for [Gazebo](../sim_gazebo_gz/index.md). - - Then configure your system for [ROS 2 / PX4 operations](../ros2/user_guide.md#installation-setup). - - In different terminals manually start a multi vehicle simulation. - This example spawns 2 X500 Quadrotors and aFPX fixed-wing: + This example spawns 2 X500 Quadrotors and aFPX fixed-wing. - ```sh - PX4_SYS_AUTOSTART=4001 PX4_SIM_MODEL=gz_x500 ./build/px4_sitl_default/bin/px4 -i 1 - ``` +:::info +Note that in the first terminal you **do not** specify standalone mode. The first terminal will start the gz-server and the other two +instances will connect to it. +**Terminal 1** +::: - ```sh - PX4_SYS_AUTOSTART=4001 PX4_GZ_MODEL_POSE="0,1" PX4_SIM_MODEL=gz_x500 ./build/px4_sitl_default/bin/px4 -i 2 - ``` +```sh +PX4_SYS_AUTOSTART=4001 PX4_SIM_MODEL=gz_x500 ./build/px4_sitl_default/bin/px4 -i 1 +``` - ```sh - PX4_SYS_AUTOSTART=4003 PX4_GZ_MODEL_POSE="0,2" PX4_SIM_MODEL=gz_rc_cessna ./build/px4_sitl_default/bin/px4 -i 3 - ``` +**Terminal 2** + +```sh +PX4_GZ_STANDALONE=1 PX4_SYS_AUTOSTART=4001 PX4_GZ_MODEL_POSE="0,1" PX4_SIM_MODEL=gz_x500 ./build/px4_sitl_default/bin/px4 -i 2 +``` + +**Terminal 3** + +```sh +PX4_GZ_STANDALONE=1 PX4_SYS_AUTOSTART=4003 PX4_GZ_MODEL_POSE="0,2" PX4_SIM_MODEL=gz_rc_cessna ./build/px4_sitl_default/bin/px4 -i 3 +``` - Start the agent: diff --git a/docs/ko/simulation/index.md b/docs/ko/simulation/index.md index 0ccbcbff9b..0ad31c3091 100644 --- a/docs/ko/simulation/index.md +++ b/docs/ko/simulation/index.md @@ -157,9 +157,8 @@ make px4_sitl none_iris 시뮬레이션은 환경 변수를 통하여 추가로 설정이 가능합니다. -- `PX4_ESTIMATOR`: This variable configures which estimator to use. - Possible options are: `ekf2` (default), `lpe` (deprecated). - It can be set via `export PX4_ESTIMATOR=lpe` before running the simulation. +- Any of the [PX4 parameters](../advanced_config/parameter_reference.md) can be overridden via `export PX4_PARAM_{name}={value}`. + For example changing the estimator: `export PX4_PARAM_EKF2_EN=0; export PX4_PARAM_ATT_EN=1`. The syntax described here is simplified, and there are many other options that you can configure via _make_ - for example, to set that you wish to connect to an IDE or debugger. For more information see: [Building the Code > PX4 Make Build Targets](../dev_setup/building_px4.md#px4-make-build-targets). diff --git a/docs/ko/telemetry/jfi_telemetry.md b/docs/ko/telemetry/jfi_telemetry.md index 5ea2802f53..f9c10669d5 100644 --- a/docs/ko/telemetry/jfi_telemetry.md +++ b/docs/ko/telemetry/jfi_telemetry.md @@ -21,7 +21,7 @@ Operating in the 2.4GHz frequency band, it allows unrestricted global use withou - **Frequency Band:** 2.4GHz - **Speed:** Up to 11 Mbps (adjustable) - **Range:** Up to 500 meters (varies upon environments) -- **Payload Capacity:** Up to 1400 bytes +- **Payload Capacity:** Up to 1024 bytes ### Network Schemes @@ -124,7 +124,7 @@ However if you change the baud rate from 57600 you will need to create and use a - **Smart device:** Connect to Wi-Fi network named `J.Fi-xxxxxx` (x: alphanumeric characters) - **Browser:** Go to `192.168.4.1` to open the **configuration page**. - **Configuration page:** Adjust settings as needed, then click **Save** - - _LED 1_ blinks once upon saving + - _LED 2_ blinks once upon saving ![J.Fi Wireless Telemetry Broadcast Communication](../../assets/hardware/telemetry/jmarple/jfi_telemetry_config.jpg) diff --git a/docs/ko/test_and_ci/index.md b/docs/ko/test_and_ci/index.md index aa95c9d9a2..bfe2a5af38 100644 --- a/docs/ko/test_and_ci/index.md +++ b/docs/ko/test_and_ci/index.md @@ -8,7 +8,9 @@ Test topics include: - [Test Flights](../test_and_ci/test_flights.md) - How to make test flights (e.g. to [test PRs](../contribute/code.md#pull-requests)) - [Unit Tests](../test_and_ci/unit_tests.md) - [Continuous Integration (CI)](../test_and_ci/continous_integration.md) -- [ROS Integration Testing](../test_and_ci/integration_testing.md) -- [MAVSDK Integration Testing](../test_and_ci/integration_testing_mavsdk.md) +- [Integration Testing](../test_and_ci/integration_testing.md) + - [MAVSDK Integration Testing](../test_and_ci/integration_testing_mavsdk.md) + - [PX4 ROS2 Interface Library Integration Testing](../test_and_ci/integration_testing_px4_ros2_interface.md) + - [ROS 1 Integration Testing](../test_and_ci/integration_testing_ros1_mavros.md) (Deprecated) - [Docker](../test_and_ci/docker.md) - [Maintenance](../test_and_ci/maintenance.md) diff --git a/docs/ko/test_and_ci/integration_testing.md b/docs/ko/test_and_ci/integration_testing.md index 8cdd4f7ba5..2cb01ca697 100644 --- a/docs/ko/test_and_ci/integration_testing.md +++ b/docs/ko/test_and_ci/integration_testing.md @@ -1,152 +1,13 @@ -# ROS 통합 테스트 +# Integration Testing -PX4의 ROS 기반 통합 테스트 방법을 설명합니다. +Integration tests are used to verify how well larger parts of a system work together. +In PX4 this generally means testing whole features of a vehicle, usually running in simulation. +The tests are run in [Continuous Integration (CI)](../test_and_ci/continous_integration.md) on every pull request. -:::info -[MAVSDK Integration Testing](../test_and_ci/integration_testing_mavsdk.md) is preferred when writing new tests. -Use the ROS-based integration test framework for use cases that _require_ ROS (e.g. object avoidance). +- [MAVSDK Integration Testing](../test_and_ci/integration_testing_mavsdk.md) - MAVSDK-based test framework for PX4. + _This is the recommended framework for writing new Integration tests_ +- [PX4 ROS2 Interface Library Integration Testing](../test_and_ci/integration_testing_px4_ros2_interface.md) - Integration Tests for the [PX4 ROS 2 Interface Library](../ros2/px4_ros2_interface_lib.md). -All PX4 integraton tests are executed automatically by our [Continuous Integration](../test_and_ci/continous_integration.md) system. -::: +The following framework should only be used for tests that require ROS 1: -## 전제 조건 - -- [jMAVSim Simulator](../sim_jmavsim/index.md) -- [Gazebo Classic Simulator](../sim_gazebo_classic/index.md) -- [ROS and MAVROS](../simulation/ros_interface.md) - -## 테스트 실행 - -MAVROS 테스트를 실행합니다. - -```sh -source /devel/setup.bash -cd -make px4_sitl_default sitl_gazebo -make -``` - -`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/`: - -```sh -source /devel/setup.bash -cd -make px4_sitl_default sitl_gazebo -./test/ -``` - -예: - -```sh -./test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test -``` - -테스트를 GUI로 실행하여 진행 상황을 쉽게 확인할 수도 있습니다(기본적으로 테스트는 "헤드리스"로 실행됨). - -```sh -./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/` - -## 신규 MAVROS 테스트 작성(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/](https://github.com/PX4/PX4-Autopilot/tree/main/integrationtests/python_src/px4_it/mavros)). -The official ROS documentation also contains information on how to use [unittest](http://wiki.ros.org/unittest) (on which this test suite is based). - -새 테스트를 작성하려면: - -1. 아래의 빈 테스트 스켈레톤을 복사하여 새 테스트 스크립트를 작성합니다. - - ```python - #!/usr/bin/env python - # [... LICENSE ...] - - # - # @author Example Author - # - 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) - ``` - -2. 새 테스트만 실행합니다. - - - Start the simulator: - - ```sh - cd - source Tools/simulation/gazebo/setup_gazebo.bash - roslaunch launch/mavros_posix_sitl.launch - ``` - - - Run test (in a new shell): - - ```sh - cd - source Tools/simulation/gazebo/setup_gazebo.bash - rosrun px4 mavros_new_test.py - ``` - -3. 시작 파일에 새 테스트 노드 추가 - - - In `test/` create a new `.test` ROS launch file. - - Call the test file using one of the base scripts _rostest_px4_run.sh_ or _rostest_avoidance_run.sh_ - -4. (Optional) Create a new target in the Makefile - - - Open the Makefile - - Search the _Testing_ section - - Add a new target name and call the test - - 예: - - ```sh - tests_: rostest - @"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_.test - ``` - -위에서 설명한 대로 테스트를 실행합니다. +- [ROS 1 Integration Testing](../test_and_ci/integration_testing_ros1_mavros.md) (Deprecated) diff --git a/docs/ko/test_and_ci/integration_testing_mavsdk.md b/docs/ko/test_and_ci/integration_testing_mavsdk.md index c9f810a414..060360e64d 100644 --- a/docs/ko/test_and_ci/integration_testing_mavsdk.md +++ b/docs/ko/test_and_ci/integration_testing_mavsdk.md @@ -7,6 +7,10 @@ PX4 can be tested end to end to using integration tests based on [MAVSDK](https: 아래 지침은 로컬에서 테스트를 설정하고 진행하는 방법을 설명합니다. +:::note +This is the recommended integration test framework for PX4. +::: + ## 준비 사항 ### 개발 환경 설정 @@ -47,21 +51,21 @@ To run all SITL tests as defined in [sitl.json](https://github.com/PX4/PX4-Autop test/mavsdk_tests/mavsdk_test_runner.py test/mavsdk_tests/configs/sitl.json --speed-factor 10 ``` -그러면, 모든 테스트가 나열되고 순차적으로 실행됩니다. +This will list all the tests and then run them sequentially. To see all possible command line arguments use the `-h` argument: ```sh test/mavsdk_tests/mavsdk_test_runner.py -h -usage: mavsdk_test_runner.py [-h] [--log-dir LOG_DIR] [--speed-factor SPEED_FACTOR] [--iterations ITERATIONS] [--abort-early] [--gui] [--model MODEL] - [--case CASE] [--debugger DEBUGGER] [--verbose] - config_file +usage: mavsdk_test_runner.py [-h] [--log-dir LOG_DIR] [--speed-factor SPEED_FACTOR] [--iterations ITERATIONS] [--abort-early] + [--gui] [--model MODEL] [--case CASE] [--debugger DEBUGGER] [--upload] [--force-color] + [--verbose] [--build-dir BUILD_DIR] positional arguments: config_file JSON config file to use -optional arguments: +options: -h, --help show this help message and exit --log-dir LOG_DIR Directory for log files --speed-factor SPEED_FACTOR @@ -71,9 +75,13 @@ optional arguments: --abort-early abort on first unsuccessful test --gui display the visualization for a simulation --model MODEL only run tests for one model - --case CASE only run tests for one case + --case CASE only run tests for one case (or multiple cases with wildcard '*') --debugger DEBUGGER choice from valgrind, callgrind, gdb, lldb + --upload Upload logs to logs.px4.io + --force-color Force colorized output --verbose enable more verbose output + --build-dir BUILD_DIR + relative path where the built files are stored ``` ## 단일 테스트 실행 diff --git a/docs/ko/test_and_ci/integration_testing_px4_ros2_interface.md b/docs/ko/test_and_ci/integration_testing_px4_ros2_interface.md new file mode 100644 index 0000000000..1656ce84df --- /dev/null +++ b/docs/ko/test_and_ci/integration_testing_px4_ros2_interface.md @@ -0,0 +1,29 @@ +# Integration Testing for the PX4 ROS 2 Interface Library + +This topic outlines the integration tests for the [PX4 ROS 2 Interface Library](../ros2/px4_ros2_interface_lib.md). + +These test that mode registration, failsafes, and mode replacement, work as expected. + +## CI Testing + +When opening a pull request to PX4, CI runs the library integration tests. + +## Running Tests Locally + +The tests can also be run locally from PX4: + +```sh +./test/ros_test_runner.py +``` + +And to run only a single case: + +```sh +./test/ros_test_runner.py --verbose --case +``` + +You can list the available test cases with: + +```sh +./test/ros_test_runner.py --list-cases +``` \ No newline at end of file diff --git a/docs/ko/test_and_ci/integration_testing_ros1_mavros.md b/docs/ko/test_and_ci/integration_testing_ros1_mavros.md new file mode 100644 index 0000000000..64edb808d7 --- /dev/null +++ b/docs/ko/test_and_ci/integration_testing_ros1_mavros.md @@ -0,0 +1,155 @@ +# Integration Testing using ROS 1 + +This topic explains how to run (and extend) PX4's ROS (1) and MAVROS -based integration tests. + +:::warning +This test framework is deprecated. +It should be used only for new test cases that _require_ ROS 1. + +[MAVSDK Integration Testing](../test_and_ci/integration_testing_mavsdk.md) is preferred when writing new tests. +::: + +:::note +All PX4 integration tests are executed automatically by our [Continuous Integration](../test_and_ci/continous_integration.md) system. +::: + +## 준비 사항 + +- [Gazebo Classic Simulator](../sim_gazebo_classic/index.md) +- [ROS and MAVROS](../simulation/ros_interface.md) + +## Execute Tests + +To run the MAVROS tests: + +```sh +source /devel/setup.bash +cd +make px4_sitl_default sitl_gazebo +make +``` + +`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/`: + +```sh +source /devel/setup.bash +cd +make px4_sitl_default sitl_gazebo +./test/ +``` + +예: + +```sh +./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"): + +```sh +./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/](https://github.com/PX4/PX4-Autopilot/tree/main/integrationtests/python_src/px4_it/mavros)). +The official ROS documentation also contains information on how to use [unittest](http://wiki.ros.org/unittest) (on which this test suite is based). + +To write a new test: + +1. Create a new test script by copying the empty test skeleton below: + + ```python + #!/usr/bin/env python + # [... LICENSE ...] + + # + # @author Example Author + # + 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) + ``` + +2. Run the new test only + + - Start the simulator: + + ```sh + cd + source Tools/simulation/gazebo/setup_gazebo.bash + roslaunch launch/mavros_posix_sitl.launch + ``` + + - Run test (in a new shell): + + ```sh + cd + source Tools/simulation/gazebo/setup_gazebo.bash + rosrun px4 mavros_new_test.py + ``` + +3. Add new test node to a launch file + + - In `test/` create a new `.test` ROS launch file. + - Call the test file using one of the base scripts _rostest_px4_run.sh_ or _rostest_avoidance_run.sh_ + +4. (Optional) Create a new target in the Makefile + + - Open the Makefile + - Search the _Testing_ section + - Add a new target name and call the test + + 예: + + ```sh + tests_: rostest + @"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_.test + ``` + +Run the tests as described above. \ No newline at end of file