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docs/ko/test_and_ci/integration_testing_ros1_mavros.md

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+# 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 <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/`:
+
+```sh
+source <catkin_ws>/devel/setup.bash
+cd <PX4-Autopilot_clone>
+make px4_sitl_default sitl_gazebo
+./test/<test_bash_script> <test_launch_file>
+```
+
+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 <author@example.com>
+    #
+    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 <PX4-Autopilot_clone>
+       source Tools/simulation/gazebo/setup_gazebo.bash
+       roslaunch launch/mavros_posix_sitl.launch
+       ```
+
+   - Run test (in a new shell):
+
+       ```sh
+       cd <PX4-Autopilot_clone>
+       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_name>.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_<new_test_target_name>: rostest
+    	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_<new_test>.test
+    ```
+
+Run the tests as described above.