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enable avoidance test

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Martina Rivizzigno 2019-10-07 17:13:17 +02:00 committed by Daniel Agar
parent 001da78089
commit 7f4ddde378
3 changed files with 9 additions and 9 deletions
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14
.ci/Jenkinsfile-SITL_tests
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@ -86,13 +86,13 @@ pipeline {
mission: "VTOL_mission_1", mission: "VTOL_mission_1",
vehicle: "tiltrotor" vehicle: "tiltrotor"
], ],
// [ [
// name: "MC_avoidance", name: "MC_avoidance",
// test: "mavros_posix_test_avoidance.test", test: "mavros_posix_test_avoidance.test",
// mission: "avoidance", mission: "avoidance",
// vehicle: "iris_obs_avoid", vehicle: "iris_obs_avoid",
// run_script: "rostest_avoidance_run.sh" run_script: "rostest_avoidance_run.sh"
// ], ],
// [ // [
// name: "MC_safe_landing", // name: "MC_safe_landing",
// test: "mavros_posix_test_safe_landing.test", // test: "mavros_posix_test_safe_landing.test",

2
test/mavros_posix_test_avoidance.test
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@ -23,7 +23,7 @@
<!-- MAVROS --> <!-- MAVROS -->
<include file="$(find mavros)/launch/node.launch"> <include file="$(find mavros)/launch/node.launch">
<arg name="pluginlists_yaml" value="$(find mavros)/launch/px4_pluginlists.yaml"/> <arg name="pluginlists_yaml" value="$(find mavros)/launch/px4_pluginlists.yaml"/>
<arg name="config_yaml" value="$(find mavros)/launch/px4_config.yaml"/> <arg name="config_yaml" value="$(find local_planner)/resource/px4_config.yaml"/>
<arg name="gcs_url" value=""/> <arg name="gcs_url" value=""/>
<arg name="fcu_url" value="udp://:14540@localhost:14557"/> <arg name="fcu_url" value="udp://:14540@localhost:14557"/>
<arg name="tgt_system" value="1"/> <arg name="tgt_system" value="1"/>

2
test/rostest_avoidance_run.sh
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@ -6,7 +6,7 @@ PX4_SRC_DIR=${DIR}/..
source /opt/ros/${ROS_DISTRO:-kinetic}/setup.bash source /opt/ros/${ROS_DISTRO:-kinetic}/setup.bash
mkdir -p ${PX4_SRC_DIR}/catkin_ws/src mkdir -p ${PX4_SRC_DIR}/catkin_ws/src
cd ${PX4_SRC_DIR}/catkin_ws/ cd ${PX4_SRC_DIR}/catkin_ws/
git clone -b 0.3.0 --single-branch --depth 1 https://github.com/PX4/avoidance.git src/avoidance git clone -b 0.3.1 --single-branch --depth 1 https://github.com/PX4/avoidance.git src/avoidance
catkin init catkin init
catkin build local_planner safe_landing_planner --cmake-args -DCMAKE_BUILD_TYPE=Release catkin build local_planner safe_landing_planner --cmake-args -DCMAKE_BUILD_TYPE=Release