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docs: update integration tests (#24671)

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* docs: update integration tests

Updates for https://github.com/PX4/PX4-Autopilot/pull/22494.
Transferred from https://github.com/PX4/PX4-user_guide/pull/2970.

* Apply suggestions from code review

* Update docs/en/test_and_ci/integration_testing_ros1_mavros.md

---------

Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
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Beat Küng
2025-05-07 13:52:03 +10:00
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co-authored by Hamish Willee
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# Integration Testing using ROS
# Integration Testing
This topic explains how to run (and extend) PX4's ROS-based integration tests.
Integration tests are used to verify how well larger parts of a system work together.
In PX4 this generally means testing whole features of a vehicle, usually running in simulation.
The tests are run in [Continuous Integration (CI)](../test_and_ci/continous_integration.md) on every pull request.
::: 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).
- [MAVSDK Integration Testing](../test_and_ci/integration_testing_mavsdk.md) - MAVSDK-based test framework for PX4.
_This is the recommended framework for writing new Integration tests_
- [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).
All PX4 integraton tests are executed automatically by our [Continuous Integration](../test_and_ci/continous_integration.md) system.
:::
The following framework should only be used for tests that require ROS 1:
## Prerequisites:
- [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>
```
For example:
```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)
```
1. 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
```
1. 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_
1. (Optional) Create a new target in the Makefile
- Open the Makefile
- Search the _Testing_ section
- Add a new target name and call the test
For example:
```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.
- [ROS 1 Integration Testing](../test_and_ci/integration_testing_ros1_mavros.md) (Deprecated)