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153 lines
4.3 KiB
Markdown
153 lines
4.3 KiB
Markdown
# ROS 통합 테스트
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PX4의 ROS 기반 통합 테스트 방법을 설명합니다.
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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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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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## 전제 조건
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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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## 테스트 실행
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MAVROS 테스트를 실행합니다.
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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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예:
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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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테스트를 GUI로 실행하여 진행 상황을 쉽게 확인할 수도 있습니다(기본적으로 테스트는 "헤드리스"로 실행됨).
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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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## 신규 MAVROS 테스트 작성(Python)
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This section explains how to write a new python test using ROS 1/MAVROS, test it, and add it to the PX4 test suite.
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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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새 테스트를 작성하려면:
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1. 아래의 빈 테스트 스켈레톤을 복사하여 새 테스트 스크립트를 작성합니다.
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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. 새 테스트만 실행합니다.
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- Start the simulator:
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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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- Run test (in a new shell):
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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. 시작 파일에 새 테스트 노드 추가
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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. (Optional) Create a new target in the Makefile
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- Open the Makefile
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- Search the _Testing_ section
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- Add a new target name and call the test
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예:
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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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위에서 설명한 대로 테스트를 실행합니다.
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