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Obstacle Avoidance testing in CI (#10780)

This commit is contained in:
Martina Rivizzigno 2019-03-15 05:37:23 +01:00 committed by Daniel Agar
parent 1083af21e8
commit 09b795161e
6 changed files with 187 additions and 2 deletions
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10
.ci/Jenkinsfile-SITL_tests
View File

@ -79,6 +79,13 @@ pipeline {
mission: "VTOL_mission_1",
vehicle: "tiltrotor"
],
[
name: "MC_avoidance",
test: "mavros_posix_test_avoidance.test",
mission: "avoidance",
vehicle: "iris_obs_avoid",
run_script: "rostest_avoidance_run.sh"
],
]
@ -111,6 +118,7 @@ def createTestNode(Map test_def) {
cleanWs()
docker.image("px4io/px4-dev-ros-kinetic:2019-03-08").inside('-e HOME=${WORKSPACE}') {
stage(test_def.name) {
def run_script = test_def.get('run_script', 'rostest_px4_run.sh')
def test_ok = true
sh('export')
@ -119,7 +127,7 @@ def createTestNode(Map test_def) {
// run test
try {
sh('px4-px4_sitl_default*/px4/test/rostest_px4_run.sh ' + test_def.test + ' mission:=' + test_def.mission + ' vehicle:=' + test_def.vehicle)
sh('px4-px4_sitl_default*/px4/test/' + run_script + ' ' + test_def.test + ' mission:=' + test_def.mission + ' vehicle:=' + test_def.vehicle)
} catch (exc) {
// save all test artifacts for debugging

6
Makefile
View File

@ -337,7 +337,7 @@ format:
# Testing
# --------------------------------------------------------------------
.PHONY: tests tests_coverage tests_mission tests_mission_coverage tests_offboard
.PHONY: tests tests_coverage tests_mission tests_mission_coverage tests_offboard tests_avoidance
.PHONY: rostest python_coverage test_mixer_multirotor
test_mixer_multirotor:
@ -374,6 +374,9 @@ tests_offboard: rostest
@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_offboard_attctl.test
@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test
tests_avoidance:
@"$(SRC_DIR)"/test/rostest_avoidance_run.sh mavros_posix_test_avoidance.test
python_coverage:
@mkdir -p "$(SRC_DIR)"/build/python_coverage
@cd "$(SRC_DIR)"/build/python_coverage && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=px4_sitl_default -DPYTHON_COVERAGE=ON
@ -384,6 +387,7 @@ python_coverage:
@coverage combine `find . -name .coverage\*`
@coverage report -m
# static analyzers (scan-build, clang-tidy, cppcheck)
# --------------------------------------------------------------------
.PHONY: scan-build px4_sitl_default-clang clang-tidy clang-tidy-fix clang-tidy-quiet

13
ROMFS/px4fmu_common/init.d-posix/1015_iris_obs_avoid Normal file
View File

@ -0,0 +1,13 @@
#!/bin/sh
#
# @name 3DR Iris Quadrotor SITL (Obstacle Avoidance)
#
# @type Quadrotor Wide
#
sh /etc/init.d-posix/10016_iris
if [ $AUTOCNF = yes ]
then
param set COM_OBS_AVOID 1
fi

88
integrationtests/python_src/px4_it/mavros/missions/avoidance.plan Normal file
View File

@ -0,0 +1,88 @@
{
"fileType": "Plan",
"geoFence": {
"circles": [
],
"polygons": [
],
"version": 2
},
"groundStation": "QGroundControl",
"mission": {
"cruiseSpeed": 15,
"firmwareType": 12,
"hoverSpeed": 5,
"items": [
{
"AMSLAltAboveTerrain": null,
"Altitude": 4,
"AltitudeMode": 0,
"autoContinue": true,
"command": 22,
"doJumpId": 1,
"frame": 3,
"params": [
15,
0,
0,
null,
47.3977432,
8.5456085,
4
],
"type": "SimpleItem"
},
{
"AMSLAltAboveTerrain": null,
"Altitude": 4,
"AltitudeMode": 0,
"autoContinue": true,
"command": 16,
"doJumpId": 2,
"frame": 3,
"params": [
0,
0,
0,
null,
47.3977432,
8.5458765,
4
],
"type": "SimpleItem"
},
{
"AMSLAltAboveTerrain": null,
"Altitude": -1,
"AltitudeMode": 0,
"autoContinue": true,
"command": 21,
"doJumpId": 3,
"frame": 3,
"params": [
0,
0,
0,
null,
47.3977432,
8.5458812,
-1
],
"type": "SimpleItem"
}
],
"plannedHomePosition": [
47.3977419,
8.5458854,
487.923
],
"vehicleType": 2,
"version": 2
},
"rallyPoints": {
"points": [
],
"version": 2
},
"version": 1
}

52
test/mavros_posix_test_avoidance.test Normal file
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@ -0,0 +1,52 @@
<?xml version="1.0"?>
<launch>
<!-- Posix SITL MAVROS integration tests -->
<!-- Test a mission -->
<arg name="est" default="ekf2"/>
<arg name="gui" default="false"/>
<arg name="interactive" default="false"/>
<arg name="mission" default="avoidance"/>
<arg name="sdf" default="$(find local_planner)/../sim/models/iris_depth_camera_3/iris_depth_camera.sdf"/>
<arg name="vehicle" default="iris_obs_avoid"/>
<arg name="world" default="$(find local_planner)/../sim/worlds/boxes1.world"/>
<!-- PX4 SITL and Gazebo -->
<include file="$(find px4)/launch/posix_sitl.launch">
<arg name="est" value="$(arg est)"/>
<arg name="gui" value="$(arg gui)"/>
<arg name="interactive" value="$(arg interactive)"/>
<arg name="respawn_gazebo" value="true"/>
<arg name="sdf" value="$(arg sdf)"/>
<arg name="vehicle" value="$(arg vehicle)"/>
<arg name="verbose" value="true"/>
<arg name="world" value="$(arg world)"/>
</include>
<!-- MAVROS -->
<include file="$(find mavros)/launch/node.launch">
<arg name="pluginlists_yaml" value="$(find mavros)/launch/px4_pluginlists.yaml"/>
<arg name="config_yaml" value="$(find local_planner)/resource/px4_config.yaml"/>
<arg name="gcs_url" value=""/>
<arg name="fcu_url" value="udp://:14540@localhost:14557"/>
<arg name="tgt_system" value="1"/>
<arg name="tgt_component" value="1"/>
<arg name="respawn_mavros" value="true"/>
</include>
<!-- Transformation Publishers -->
<node pkg="tf" type="static_transform_publisher" name="tf_front_camera"
args="0 0 0 -1.57 0 -1.57 fcu front_camera_link 10"/>
<node pkg="tf" type="static_transform_publisher" name="tf_right_camera"
args="0 0 0 -3.14 0 -1.57 fcu right_camera_link 10"/>
<node pkg="tf" type="static_transform_publisher" name="tf_left_camera"
args="0 0 0 0 0 -1.57 fcu left_camera_link 10"/>
<!-- Suppress console outputs -->
<env name="ROSCONSOLE_CONFIG_FILE" value="$(find local_planner)/resource/custom_rosconsole.conf"/>
<!-- Launch Local Planner -->
<arg name="pointcloud_topics" default="[/camera_front/depth/points,/camera_left/depth/points,/camera_right/depth/points]"/>
<node name="local_planner_node" pkg="local_planner" type="local_planner_node" output="screen">
<param name="goal_x_param" value="17" />
<param name="goal_y_param" value="15"/>
<param name="goal_z_param" value="3" />
<rosparam param="pointcloud_topics" subst_value="True">$(arg pointcloud_topics)</rosparam>
</node>
<!-- ROStest -->
<test test-name="$(arg mission)" pkg="px4" type="mission_test.py" time-limit="300.0" args="$(arg mission).plan"/>
</launch>

20
test/rostest_avoidance_run.sh Executable file
View File

@ -0,0 +1,20 @@
#! /bin/bash
DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
PX4_SRC_DIR=${DIR}/..
source /opt/ros/${ROS_DISTRO:-kinetic}/setup.bash
mkdir -p ${PX4_SRC_DIR}/catkin_ws/src
cd ${PX4_SRC_DIR}/catkin_ws/
git clone -b '0.1.0' --single-branch --depth 1 https://github.com/PX4/avoidance.git src/avoidance
catkin init
catkin build local_planner --cmake-args -DCMAKE_BUILD_TYPE=Release
source ${PX4_SRC_DIR}/catkin_ws/devel/setup.bash
source /usr/share/gazebo/setup.sh
export CATKIN_SETUP_UTIL_ARGS=--extend
export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:${PX4_SRC_DIR}/catkin_ws/src/avoidance/sim/models
source $DIR/rostest_px4_run.sh "$@"