From 7f4ddde378cb9b631248eef6369f3ce8e175e1cd Mon Sep 17 00:00:00 2001
From: Martina Rivizzigno <martina@rivizzigno.it>
Date: Mon, 7 Oct 2019 17:13:17 +0200
Subject: [PATCH] enable avoidance test

---
 .ci/Jenkinsfile-SITL_tests            | 14 +++++++-------
 test/mavros_posix_test_avoidance.test |  2 +-
 test/rostest_avoidance_run.sh         |  2 +-
 3 files changed, 9 insertions(+), 9 deletions(-)

diff --git a/.ci/Jenkinsfile-SITL_tests b/.ci/Jenkinsfile-SITL_tests
index 7b6bf38353..34d3a42ddf 100644
--- a/.ci/Jenkinsfile-SITL_tests
+++ b/.ci/Jenkinsfile-SITL_tests
@@ -86,13 +86,13 @@ 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"
-            // ],
+            [
+              name: "MC_avoidance",
+              test: "mavros_posix_test_avoidance.test",
+              mission: "avoidance",
+              vehicle: "iris_obs_avoid",
+              run_script: "rostest_avoidance_run.sh"
+            ],
             // [
             //   name: "MC_safe_landing",
             //   test: "mavros_posix_test_safe_landing.test",
diff --git a/test/mavros_posix_test_avoidance.test b/test/mavros_posix_test_avoidance.test
index a2d121029a..5c5adeaa4d 100644
--- a/test/mavros_posix_test_avoidance.test
+++ b/test/mavros_posix_test_avoidance.test
@@ -23,7 +23,7 @@
     <!-- MAVROS -->
     <include file="$(find mavros)/launch/node.launch">
         <arg name="pluginlists_yaml" value="$(find mavros)/launch/px4_pluginlists.yaml"/>
-        <arg name="config_yaml" value="$(find mavros)/launch/px4_config.yaml"/>
+        <arg name="config_yaml" value="$(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"/>
diff --git a/test/rostest_avoidance_run.sh b/test/rostest_avoidance_run.sh
index 2abcb62fad..2fc2be7eb6 100755
--- a/test/rostest_avoidance_run.sh
+++ b/test/rostest_avoidance_run.sh
@@ -6,7 +6,7 @@ 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 0.3.0 --single-branch --depth 1 https://github.com/PX4/avoidance.git src/avoidance
+git clone -b 0.3.1 --single-branch --depth 1 https://github.com/PX4/avoidance.git src/avoidance
 
 catkin init
 catkin build local_planner safe_landing_planner --cmake-args -DCMAKE_BUILD_TYPE=Release