Move PX4 Guide source into /docs (#24490)

* Add vitepress tree * Update existing workflows so they dont trigger on changes in the docs path * Add nojekyll, package.json, LICENCE etc * Add crowdin docs upload/download scripts * Add docs flaw checker workflows * Used docs prefix for docs workflows * Crowdin obvious fixes * ci: docs move to self hosted runner runs on a beefy server for faster builds Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: don't run build action for docs or ci changes Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: update runners Signed-off-by: Ramon Roche <mrpollo@gmail.com> * Add docs/en * Add docs assets and scripts * Fix up editlinks to point to PX4 sources * Download just the translations that are supported * Add translation sources for zh, uk, ko * Update latest tranlsation and uorb graphs * update vitepress to latest --------- Signed-off-by: Ramon Roche <mrpollo@gmail.com> Co-authored-by: Ramon Roche <mrpollo@gmail.com>
2026-10-29 02:03:34 +08:00 · 2025-03-13 16:08:27 +11:00
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+# 集成测试
+
+This topic explains how to run (and extend) PX4's ROS-based integration tests.
+
+:::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).
+
+All PX4 integraton tests are executed automatically by our [Continuous Integration](../test_and_ci/continous_integration.md) system.
+:::
+
+## ROS / MAVROS 测试
+
+- [jMAVSim Simulator](../sim_jmavsim/index.md)
+- [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>
+```
+
+例如：
+
+```sh
+./test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test
+```
+
+如上所述运行完整的测试套件。
+
+```sh
+# 开始仿真
+cd &lt;Firmware_clone&gt;
+source integrationtests/setup_gazebo_ros.bash $(pwd)
+roslaunch px4 mavros_posix_sitl.launch
+
+# 运行测试（在新的 shell 中）：
+cd &lt;Firmware_clone&gt;
+source integrationtests/setup_gazebo_ros.bash $(pwd)
+rosrun px4 mavros_new_test.py
+```
+
+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
+
+   例如：
+
+   ```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.