forked from Archive/PX4-Autopilot
Obstacle Avoidance testing in CI (#10780)
This commit is contained in:
Martina Rivizzigno
Daniel Agar
parent
1083af21e8
commit
09b795161e
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@ -79,6 +79,13 @@ pipeline {
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mission: "VTOL_mission_1",
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mission: "VTOL_mission_1",
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vehicle: "tiltrotor"
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vehicle: "tiltrotor"
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],
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],
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[
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name: "MC_avoidance",
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test: "mavros_posix_test_avoidance.test",
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mission: "avoidance",
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vehicle: "iris_obs_avoid",
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run_script: "rostest_avoidance_run.sh"
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],
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]
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]
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@ -111,6 +118,7 @@ def createTestNode(Map test_def) {
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cleanWs()
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cleanWs()
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docker.image("px4io/px4-dev-ros-kinetic:2019-03-08").inside('-e HOME=${WORKSPACE}') {
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docker.image("px4io/px4-dev-ros-kinetic:2019-03-08").inside('-e HOME=${WORKSPACE}') {
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stage(test_def.name) {
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stage(test_def.name) {
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def run_script = test_def.get('run_script', 'rostest_px4_run.sh')
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def test_ok = true
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def test_ok = true
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sh('export')
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sh('export')
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@ -119,7 +127,7 @@ def createTestNode(Map test_def) {
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// run test
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// run test
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try {
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try {
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sh('px4-px4_sitl_default*/px4/test/rostest_px4_run.sh ' + test_def.test + ' mission:=' + test_def.mission + ' vehicle:=' + test_def.vehicle)
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sh('px4-px4_sitl_default*/px4/test/' + run_script + ' ' + test_def.test + ' mission:=' + test_def.mission + ' vehicle:=' + test_def.vehicle)
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} catch (exc) {
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} catch (exc) {
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// save all test artifacts for debugging
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// save all test artifacts for debugging
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6
Makefile
6
Makefile
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@ -337,7 +337,7 @@ format:
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# Testing
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# Testing
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# --------------------------------------------------------------------
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# --------------------------------------------------------------------
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.PHONY: tests tests_coverage tests_mission tests_mission_coverage tests_offboard
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.PHONY: tests tests_coverage tests_mission tests_mission_coverage tests_offboard tests_avoidance
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.PHONY: rostest python_coverage test_mixer_multirotor
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.PHONY: rostest python_coverage test_mixer_multirotor
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test_mixer_multirotor:
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test_mixer_multirotor:
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@ -374,6 +374,9 @@ tests_offboard: rostest
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@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_offboard_attctl.test
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@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_offboard_attctl.test
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@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test
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@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test
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tests_avoidance:
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@"$(SRC_DIR)"/test/rostest_avoidance_run.sh mavros_posix_test_avoidance.test
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python_coverage:
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python_coverage:
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@mkdir -p "$(SRC_DIR)"/build/python_coverage
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@mkdir -p "$(SRC_DIR)"/build/python_coverage
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@cd "$(SRC_DIR)"/build/python_coverage && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=px4_sitl_default -DPYTHON_COVERAGE=ON
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@cd "$(SRC_DIR)"/build/python_coverage && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=px4_sitl_default -DPYTHON_COVERAGE=ON
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@ -384,6 +387,7 @@ python_coverage:
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@coverage combine `find . -name .coverage\*`
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@coverage combine `find . -name .coverage\*`
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@coverage report -m
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@coverage report -m
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# static analyzers (scan-build, clang-tidy, cppcheck)
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# static analyzers (scan-build, clang-tidy, cppcheck)
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# --------------------------------------------------------------------
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# --------------------------------------------------------------------
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.PHONY: scan-build px4_sitl_default-clang clang-tidy clang-tidy-fix clang-tidy-quiet
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.PHONY: scan-build px4_sitl_default-clang clang-tidy clang-tidy-fix clang-tidy-quiet
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@ -0,0 +1,13 @@
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#!/bin/sh
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#
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# @name 3DR Iris Quadrotor SITL (Obstacle Avoidance)
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#
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# @type Quadrotor Wide
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#
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sh /etc/init.d-posix/10016_iris
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if [ $AUTOCNF = yes ]
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then
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param set COM_OBS_AVOID 1
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fi
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@ -0,0 +1,88 @@
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{
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"fileType": "Plan",
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"geoFence": {
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"circles": [
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],
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"polygons": [
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],
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"version": 2
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},
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"groundStation": "QGroundControl",
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"mission": {
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"cruiseSpeed": 15,
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"firmwareType": 12,
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"hoverSpeed": 5,
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"items": [
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{
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"AMSLAltAboveTerrain": null,
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"Altitude": 4,
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"AltitudeMode": 0,
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"autoContinue": true,
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"command": 22,
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"doJumpId": 1,
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"frame": 3,
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"params": [
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15,
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0,
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0,
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null,
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47.3977432,
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8.5456085,
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4
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],
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"type": "SimpleItem"
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},
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{
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"AMSLAltAboveTerrain": null,
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"Altitude": 4,
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"AltitudeMode": 0,
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"autoContinue": true,
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"command": 16,
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"doJumpId": 2,
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"frame": 3,
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"params": [
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0,
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0,
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0,
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null,
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47.3977432,
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8.5458765,
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4
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],
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"type": "SimpleItem"
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},
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{
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"AMSLAltAboveTerrain": null,
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"Altitude": -1,
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"AltitudeMode": 0,
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"autoContinue": true,
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"command": 21,
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"doJumpId": 3,
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"frame": 3,
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"params": [
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0,
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0,
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0,
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null,
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47.3977432,
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8.5458812,
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-1
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],
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"type": "SimpleItem"
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}
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],
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"plannedHomePosition": [
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47.3977419,
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8.5458854,
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487.923
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],
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"vehicleType": 2,
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"version": 2
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},
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"rallyPoints": {
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"points": [
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],
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"version": 2
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},
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"version": 1
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}
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@ -0,0 +1,52 @@
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<?xml version="1.0"?>
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<launch>
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<!-- Posix SITL MAVROS integration tests -->
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<!-- Test a mission -->
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<arg name="est" default="ekf2"/>
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<arg name="gui" default="false"/>
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<arg name="interactive" default="false"/>
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<arg name="mission" default="avoidance"/>
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<arg name="sdf" default="$(find local_planner)/../sim/models/iris_depth_camera_3/iris_depth_camera.sdf"/>
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<arg name="vehicle" default="iris_obs_avoid"/>
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<arg name="world" default="$(find local_planner)/../sim/worlds/boxes1.world"/>
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<!-- PX4 SITL and Gazebo -->
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<include file="$(find px4)/launch/posix_sitl.launch">
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<arg name="est" value="$(arg est)"/>
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<arg name="gui" value="$(arg gui)"/>
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<arg name="interactive" value="$(arg interactive)"/>
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<arg name="respawn_gazebo" value="true"/>
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<arg name="sdf" value="$(arg sdf)"/>
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<arg name="vehicle" value="$(arg vehicle)"/>
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<arg name="verbose" value="true"/>
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<arg name="world" value="$(arg world)"/>
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</include>
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<!-- MAVROS -->
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<include file="$(find mavros)/launch/node.launch">
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<arg name="pluginlists_yaml" value="$(find mavros)/launch/px4_pluginlists.yaml"/>
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<arg name="config_yaml" value="$(find local_planner)/resource/px4_config.yaml"/>
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<arg name="gcs_url" value=""/>
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<arg name="fcu_url" value="udp://:14540@localhost:14557"/>
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<arg name="tgt_system" value="1"/>
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<arg name="tgt_component" value="1"/>
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<arg name="respawn_mavros" value="true"/>
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</include>
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<!-- Transformation Publishers -->
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<node pkg="tf" type="static_transform_publisher" name="tf_front_camera"
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args="0 0 0 -1.57 0 -1.57 fcu front_camera_link 10"/>
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<node pkg="tf" type="static_transform_publisher" name="tf_right_camera"
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args="0 0 0 -3.14 0 -1.57 fcu right_camera_link 10"/>
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<node pkg="tf" type="static_transform_publisher" name="tf_left_camera"
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args="0 0 0 0 0 -1.57 fcu left_camera_link 10"/>
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<!-- Suppress console outputs -->
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<env name="ROSCONSOLE_CONFIG_FILE" value="$(find local_planner)/resource/custom_rosconsole.conf"/>
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<!-- Launch Local Planner -->
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<arg name="pointcloud_topics" default="[/camera_front/depth/points,/camera_left/depth/points,/camera_right/depth/points]"/>
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<node name="local_planner_node" pkg="local_planner" type="local_planner_node" output="screen">
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<param name="goal_x_param" value="17" />
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<param name="goal_y_param" value="15"/>
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<param name="goal_z_param" value="3" />
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<rosparam param="pointcloud_topics" subst_value="True">$(arg pointcloud_topics)</rosparam>
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</node>
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<!-- ROStest -->
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<test test-name="$(arg mission)" pkg="px4" type="mission_test.py" time-limit="300.0" args="$(arg mission).plan"/>
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</launch>
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@ -0,0 +1,20 @@
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#! /bin/bash
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DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
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PX4_SRC_DIR=${DIR}/..
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source /opt/ros/${ROS_DISTRO:-kinetic}/setup.bash
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mkdir -p ${PX4_SRC_DIR}/catkin_ws/src
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cd ${PX4_SRC_DIR}/catkin_ws/
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git clone -b '0.1.0' --single-branch --depth 1 https://github.com/PX4/avoidance.git src/avoidance
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catkin init
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catkin build local_planner --cmake-args -DCMAKE_BUILD_TYPE=Release
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source ${PX4_SRC_DIR}/catkin_ws/devel/setup.bash
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source /usr/share/gazebo/setup.sh
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export CATKIN_SETUP_UTIL_ARGS=--extend
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export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:${PX4_SRC_DIR}/catkin_ws/src/avoidance/sim/models
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source $DIR/rostest_px4_run.sh "$@"
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