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CI: allow Gazebo to restart on crash (#8817)

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* add respawn_gazebo arg to be used with empty_world.launch
* catch rospy sleep method's exceptions
* fix copy-paste mistake in land state failure message
This commit is contained in:
Anthony Lamping
2018-02-06 15:11:09 -05:00
committed by Daniel Agar
parent b40323b8d8
commit 86ae744266
11 changed files with 60 additions and 13 deletions
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integrationtests/python_src/px4_it/mavros/mavros_offboard_attctl_test.py
+4 -1
View File
@@ -132,7 +132,10 @@ class MavrosOffboardAttctlTest(MavrosTestCommon):
crossed = True
break
rate.sleep()
try:
rate.sleep()
except rospy.ROSException as e:
self.fail(e)
self.assertTrue(crossed, (
"took too long to cross boundaries | current position x: {0:.2f}, y: {1:.2f}, z: {2:.2f} | timeout(seconds): {3}".
integrationtests/python_src/px4_it/mavros/mavros_offboard_posctl_test.py
+4 -1
View File
@@ -139,7 +139,10 @@ class MavrosOffboardPosctlTest(MavrosTestCommon):
reached = True
break
rate.sleep()
try:
rate.sleep()
except rospy.ROSException as e:
self.fail(e)
self.assertTrue(reached, (
"took too long to get to position | current position x: {0:.2f}, y: {1:.2f}, z: {2:.2f} | timeout(seconds): {3}".
integrationtests/python_src/px4_it/mavros/mavros_test_common.py
+34 -10
View File
@@ -48,7 +48,7 @@ class MavrosTestCommon(unittest.TestCase):
except rospy.ROSException:
self.fail("failed to connect to services")
self.get_param_srv = rospy.ServiceProxy('mavros/param/get', ParamGet)
self.set_arming_srv = rospy.ServiceProxy('/mavros/cmd/arming',
self.set_arming_srv = rospy.ServiceProxy('mavros/cmd/arming',
CommandBool)
self.set_mode_srv = rospy.ServiceProxy('mavros/set_mode', SetMode)
self.wp_clear_srv = rospy.ServiceProxy('mavros/mission/clear',
@@ -184,7 +184,10 @@ class MavrosTestCommon(unittest.TestCase):
except rospy.ServiceException as e:
rospy.logerr(e)
rate.sleep()
try:
rate.sleep()
except rospy.ROSException as e:
self.fail(e)
self.assertTrue(arm_set, (
"failed to set arm | new arm: {0}, old arm: {1} | timeout(seconds): {2}".
@@ -211,7 +214,10 @@ class MavrosTestCommon(unittest.TestCase):
except rospy.ServiceException as e:
rospy.logerr(e)
rate.sleep()
try:
rate.sleep()
except rospy.ROSException as e:
self.fail(e)
self.assertTrue(mode_set, (
"failed to set mode | new mode: {0}, old mode: {1} | timeout(seconds): {2}".
@@ -232,7 +238,10 @@ class MavrosTestCommon(unittest.TestCase):
format(i / loop_freq, timeout))
break
rate.sleep()
try:
rate.sleep()
except rospy.ROSException as e:
self.fail(e)
self.assertTrue(simulation_ready, (
"failed to hear from all subscribed simulation topics | topic ready flags: {0} | timeout(seconds): {1}".
@@ -252,13 +261,16 @@ class MavrosTestCommon(unittest.TestCase):
format(i / loop_freq, timeout))
break
rate.sleep()
try:
rate.sleep()
except rospy.ROSException as e:
self.fail(e)
self.assertTrue(landed_state_confirmed, (
"landed state not detected | desired: {0}, current: {1} | index: {2}, timeout(seconds): {3}".
format(mavutil.mavlink.enums['MAV_LANDED_STATE'][
desired_landed_state].name, mavutil.mavlink.enums[
'MAV_VTOL_STATE'][self.extended_state.landed_state].name,
'MAV_LANDED_STATE'][self.extended_state.landed_state].name,
index, timeout)))
def wait_for_vtol_state(self, transition, timeout, index):
@@ -277,7 +289,10 @@ class MavrosTestCommon(unittest.TestCase):
transitioned = True
break
rate.sleep()
try:
rate.sleep()
except rospy.ROSException as e:
self.fail(e)
self.assertTrue(transitioned, (
"transition not detected | desired: {0}, current: {1} | index: {2} timeout(seconds): {3}".
@@ -304,7 +319,10 @@ class MavrosTestCommon(unittest.TestCase):
except rospy.ServiceException as e:
rospy.logerr(e)
rate.sleep()
try:
rate.sleep()
except rospy.ROSException as e:
self.fail(e)
self.assertTrue(wps_cleared, (
"failed to clear waypoints | timeout(seconds): {0}".format(timeout)
@@ -340,7 +358,10 @@ class MavrosTestCommon(unittest.TestCase):
format(i / loop_freq, timeout))
break
rate.sleep()
try:
rate.sleep()
except rospy.ROSException as e:
self.fail(e)
self.assertTrue((
wps_sent and wps_verified
@@ -366,7 +387,10 @@ class MavrosTestCommon(unittest.TestCase):
except rospy.ServiceException as e:
rospy.logerr(e)
rate.sleep()
try:
rate.sleep()
except rospy.ROSException as e:
self.fail(e)
self.assertTrue(res.success, (
"MAV_TYPE param get failed | timeout(seconds): {0}".format(timeout)
integrationtests/python_src/px4_it/mavros/mission_test.py
+4 -1
View File
@@ -252,7 +252,10 @@ class MavrosMissionTest(MavrosTestCommon):
format(self.mission_wp.current_seq, xy_radius, z_radius,
pos_xy_d, pos_z_d))
rate.sleep()
try:
rate.sleep()
except rospy.ROSException as e:
self.fail(e)
self.assertTrue(
reached,