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# Тестування інтеграції з використанням ROS
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# Integration Testing
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У цій темі пояснюється, як запускати (і розширювати) інтеграційні тести PX4 на основі ROS.
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Integration tests are used to verify how well larger parts of a system work together.
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In PX4 this generally means testing whole features of a vehicle, usually running in simulation.
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The tests are run in [Continuous Integration (CI)](../test_and_ci/continous_integration.md) on every pull request.
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:::info
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[MAVSDK Integration Testing](../test_and_ci/integration_testing_mavsdk.md) is preferred when writing new tests.
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Use the ROS-based integration test framework for use cases that _require_ ROS (e.g. object avoidance).
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- [MAVSDK Integration Testing](../test_and_ci/integration_testing_mavsdk.md) - MAVSDK-based test framework for PX4.
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_This is the recommended framework for writing new Integration tests_
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- [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).
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All PX4 integraton tests are executed automatically by our [Continuous Integration](../test_and_ci/continous_integration.md) system.
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:::
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The following framework should only be used for tests that require ROS 1:
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## Попередня підготовка:
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- [jMAVSim Simulator](../sim_jmavsim/index.md)
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- [Gazebo Classic Simulator](../sim_gazebo_classic/index.md)
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- [ROS and MAVROS](../simulation/ros_interface.md)
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## Виконати тести
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Щоб запустити тести MAVROS:
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```sh
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source <catkin_ws>/devel/setup.bash
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cd <PX4-Autopilot_clone>
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make px4_sitl_default sitl_gazebo
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make <test_target>
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```
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`test_target` is a makefile targets from the set: _tests_mission_, _tests_mission_coverage_, _tests_offboard_ and _tests_avoidance_.
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Test can also be executed directly by running the test scripts, located under `test/`:
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```sh
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source <catkin_ws>/devel/setup.bash
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cd <PX4-Autopilot_clone>
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make px4_sitl_default sitl_gazebo
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./test/<test_bash_script> <test_launch_file>
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```
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Наприклад:
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```sh
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./test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test
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```
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Тести також можна запускати за допомогою графічного інтерфейсу користувача, щоб побачити, що відбувається (за замовчуванням тести виконуються без голови):
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```sh
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./test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test gui:=true headless:=false
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```
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The **.test** files launch the corresponding Python tests defined in `integrationtests/python_src/px4_it/mavros/`
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## Напишіть новий MAVROS-тест (Python)
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Цей розділ пояснює, як написати новий python тест з використанням ROS 1/MAVROS, протестувати його та додати до набору тестів PX4.
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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)).
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The official ROS documentation also contains information on how to use [unittest](http://wiki.ros.org/unittest) (on which this test suite is based).
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Щоб написати новий тест:
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1. Створити новий тестовий скрипт, копіюючи порожній тестовий каркас нижче:
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```python
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#!/usr/bin/env python
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# [... LICENSE ...]
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#
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# @author Example Author <author@example.com>
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#
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PKG = 'px4'
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import unittest
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import rospy
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import rosbag
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from sensor_msgs.msg import NavSatFix
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class MavrosNewTest(unittest.TestCase):
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"""
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Test description
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"""
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def setUp(self):
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rospy.init_node('test_node', anonymous=True)
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rospy.wait_for_service('mavros/cmd/arming', 30)
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rospy.Subscriber("mavros/global_position/global", NavSatFix, self.global_position_callback)
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self.rate = rospy.Rate(10) # 10hz
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self.has_global_pos = False
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def tearDown(self):
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pass
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#
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# General callback functions used in tests
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#
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def global_position_callback(self, data):
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self.has_global_pos = True
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def test_method(self):
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"""Test method description"""
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# FIXME: hack to wait for simulation to be ready
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while not self.has_global_pos:
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self.rate.sleep()
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# TODO: execute test
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if __name__ == '__main__':
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import rostest
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rostest.rosrun(PKG, 'mavros_new_test', MavrosNewTest)
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```
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2. Запустити лише новий тест
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- Запустити симулятор
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```sh
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cd <PX4-Autopilot_clone>
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source Tools/simulation/gazebo/setup_gazebo.bash
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roslaunch launch/mavros_posix_sitl.launch
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```
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- Запустити тест (в новій оболонці):
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```sh
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cd <PX4-Autopilot_clone>
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source Tools/simulation/gazebo/setup_gazebo.bash
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rosrun px4 mavros_new_test.py
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```
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3. Додати новий тестовий вузол до файлу запуску
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- In `test/` create a new `<test_name>.test` ROS launch file.
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- Call the test file using one of the base scripts _rostest_px4_run.sh_ or _rostest_avoidance_run.sh_
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4. (Необов'язково) Створити нову ціль в Makefile
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- Відкрийте Makefile
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- Search the _Testing_ section
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- Додати нову назву цілі та викликати тест
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Наприклад:
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```sh
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tests_<new_test_target_name>: rostest
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@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_<new_test>.test
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```
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Запустити тести, як описані вище.
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- [ROS 1 Integration Testing](../test_and_ci/integration_testing_ros1_mavros.md) (Deprecated)
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