From b66f0f36a55f1db88d29ebcf5d47115a6b6ec8f9 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Beat=20K=C3=BCng?= <beat-kueng@gmx.net>
Date: Thu, 14 Jun 2018 18:37:47 +0200
Subject: [PATCH] ros tests: add an interactive flag & disable the PX4 shell
 for ROS tests (#9672)

---
 launch/mavros_posix_sitl.launch              | 3 +++
 launch/posix_sitl.launch                     | 6 +++++-
 launch/single_vehicle_spawn.launch           | 6 +++++-
 test/mavros_posix_test_mission.test          | 2 ++
 test/mavros_posix_tests_iris_opt_flow.test   | 2 ++
 test/mavros_posix_tests_missions.test        | 2 ++
 test/mavros_posix_tests_offboard_attctl.test | 2 ++
 test/mavros_posix_tests_offboard_posctl.test | 2 ++
 8 files changed, 23 insertions(+), 2 deletions(-)

diff --git a/launch/mavros_posix_sitl.launch b/launch/mavros_posix_sitl.launch
index a3efca9e76..70bb338181 100644
--- a/launch/mavros_posix_sitl.launch
+++ b/launch/mavros_posix_sitl.launch
@@ -24,6 +24,8 @@
     <!-- MAVROS configs -->
     <arg name="fcu_url" default="udp://:14540@localhost:14557"/>
     <arg name="respawn_mavros" default="false"/>
+    <!-- PX4 configs -->
+    <arg name="interactive" default="true"/>
     <!-- PX4 SITL and Gazebo -->
     <include file="$(find px4)/launch/posix_sitl.launch">
         <arg name="x" value="$(arg x)"/>
@@ -37,6 +39,7 @@
         <arg name="sdf" value="$(arg sdf)"/>
         <arg name="rcS" value="$(arg rcS)"/>
         <arg name="gui" value="$(arg gui)"/>
+        <arg name="interactive" value="$(arg interactive)"/>
         <arg name="debug" value="$(arg debug)"/>
         <arg name="verbose" value="$(arg verbose)"/>
         <arg name="paused" value="$(arg paused)"/>
diff --git a/launch/posix_sitl.launch b/launch/posix_sitl.launch
index 215716db07..a9c7dc5259 100644
--- a/launch/posix_sitl.launch
+++ b/launch/posix_sitl.launch
@@ -21,8 +21,12 @@
     <arg name="verbose" default="false"/>
     <arg name="paused" default="false"/>
     <arg name="respawn_gazebo" default="false"/>
+    <!-- PX4 configs -->
+    <arg name="interactive" default="true"/>
     <!-- PX4 SITL -->
-    <node name="sitl" pkg="px4" type="px4" output="screen" args="$(find px4) $(arg rcS)"/>
+    <arg unless="$(arg interactive)" name="px4_command_arg1" value="-d"/>
+    <arg     if="$(arg interactive)" name="px4_command_arg1" value=""/>
+    <node name="sitl" pkg="px4" type="px4" output="screen" args="$(find px4) $(arg rcS) $(arg px4_command_arg1)"/>
     <!-- Gazebo sim -->
     <include file="$(find gazebo_ros)/launch/empty_world.launch">
         <arg name="gui" value="$(arg gui)"/>
diff --git a/launch/single_vehicle_spawn.launch b/launch/single_vehicle_spawn.launch
index 556fda1a3d..9c2c3fe7b0 100644
--- a/launch/single_vehicle_spawn.launch
+++ b/launch/single_vehicle_spawn.launch
@@ -15,11 +15,15 @@
     <arg name="ID" default="1"/>
     <arg name="rcS" default="$(find px4)/posix-configs/SITL/init/$(arg est)/$(arg vehicle)_$(arg ID)"/>
     <arg name="mavlink_udp_port" default="14560"/>
+    <!-- PX4 configs -->
+    <arg name="interactive" default="true"/>
     <!-- generate urdf vehicle model -->
     <arg name="cmd" default="$(find xacro)/xacro $(find px4)/Tools/sitl_gazebo/models/rotors_description/urdf/$(arg vehicle)_base.xacro rotors_description_dir:=$(find px4)/Tools/sitl_gazebo/models/rotors_description mavlink_udp_port:=$(arg mavlink_udp_port) --inorder"/>
     <param command="$(arg cmd)" name="rotors_description"/>
     <!-- PX4 SITL -->
-    <node name="sitl_$(arg ID)" pkg="px4" type="px4" output="screen" args="$(find px4) $(arg rcS)">
+    <arg unless="$(arg interactive)" name="px4_command_arg1" value=""/>
+    <arg     if="$(arg interactive)" name="px4_command_arg1" value="-d"/>
+    <node name="sitl_$(arg ID)" pkg="px4" type="px4" output="screen" args="$(find px4) $(arg rcS) $(arg px4_command_arg1)">
     </node>
     <!-- spawn vehicle -->
     <node name="$(arg vehicle)_$(arg ID)_spawn" output="screen" pkg="gazebo_ros" type="spawn_model" args="-urdf -param rotors_description -model $(arg vehicle)_$(arg ID) -package_to_model -x $(arg x) -y $(arg y) -z $(arg z) -R $(arg R) -P $(arg P) -Y $(arg Y)"/>
diff --git a/test/mavros_posix_test_mission.test b/test/mavros_posix_test_mission.test
index 74ed4903de..894ab66015 100644
--- a/test/mavros_posix_test_mission.test
+++ b/test/mavros_posix_test_mission.test
@@ -4,12 +4,14 @@
     <!-- Test a mission -->
     <arg name="est" default="ekf2"/>
     <arg name="gui" default="false"/>
+    <arg name="interactive" default="false"/>
     <arg name="vehicle" default="iris"/>
     <arg name="mission"/>
     <!-- MAVROS, PX4 SITL, Gazebo -->
     <include file="$(find px4)/launch/mavros_posix_sitl.launch">
         <arg name="est" value="$(arg est)"/>
         <arg name="gui" value="$(arg gui)"/>
+        <arg name="interactive" value="$(arg interactive)"/>
         <arg name="vehicle" value="$(arg vehicle)"/>
         <arg name="respawn_gazebo" value="true"/>
         <arg name="respawn_mavros" value="true"/>
diff --git a/test/mavros_posix_tests_iris_opt_flow.test b/test/mavros_posix_tests_iris_opt_flow.test
index 606ecf442d..1a387e020f 100644
--- a/test/mavros_posix_tests_iris_opt_flow.test
+++ b/test/mavros_posix_tests_iris_opt_flow.test
@@ -4,10 +4,12 @@
     <!-- Test offboard local posistion and attitude control with optical flow iris -->
     <arg name="est" default="ekf2"/>
     <arg name="gui" default="false"/>
+    <arg name="interactive" default="false"/>
     <!-- MAVROS, PX4 SITL, Gazebo -->
     <include file="$(find px4)/launch/mavros_posix_sitl.launch">
         <arg name="est" value="$(arg est)"/>
         <arg name="gui" value="$(arg gui)"/>
+        <arg name="interactive" value="$(arg interactive)"/>
         <arg name="vehicle" value="iris_opt_flow"/>
         <arg name="respawn_gazebo" value="true"/>
         <arg name="respawn_mavros" value="true"/>
diff --git a/test/mavros_posix_tests_missions.test b/test/mavros_posix_tests_missions.test
index 7d4aa73313..2aec66c6b8 100644
--- a/test/mavros_posix_tests_missions.test
+++ b/test/mavros_posix_tests_missions.test
@@ -5,10 +5,12 @@
     <arg name="est" default="ekf2"/>
     <arg name="gui" default="false"/>
     <arg name="vehicle" default="standard_vtol"/>
+    <arg name="interactive" default="false"/>
     <!-- MAVROS, PX4 SITL, Gazebo -->
     <include file="$(find px4)/launch/mavros_posix_sitl.launch">
         <arg name="est" value="$(arg est)"/>
         <arg name="gui" value="$(arg gui)"/>
+        <arg name="interactive" value="$(arg interactive)"/>
         <arg name="vehicle" value="$(arg vehicle)"/>
         <arg name="respawn_gazebo" value="true"/>
         <arg name="respawn_mavros" value="true"/>
diff --git a/test/mavros_posix_tests_offboard_attctl.test b/test/mavros_posix_tests_offboard_attctl.test
index df6bd43441..f7b053bf30 100644
--- a/test/mavros_posix_tests_offboard_attctl.test
+++ b/test/mavros_posix_tests_offboard_attctl.test
@@ -5,10 +5,12 @@
     <arg name="est" default="ekf2"/>
     <arg name="gui" default="false"/>
     <arg name="vehicle" default="iris"/>
+    <arg name="interactive" default="false"/>
     <!-- MAVROS, PX4 SITL, Gazebo -->
     <include file="$(find px4)/launch/mavros_posix_sitl.launch">
         <arg name="est" value="$(arg est)"/>
         <arg name="gui" value="$(arg gui)"/>
+        <arg name="interactive" value="$(arg interactive)"/>
         <arg name="vehicle" value="$(arg vehicle)"/>
         <arg name="respawn_gazebo" value="true"/>
         <arg name="respawn_mavros" value="true"/>
diff --git a/test/mavros_posix_tests_offboard_posctl.test b/test/mavros_posix_tests_offboard_posctl.test
index dea45da03a..ebdf6d047d 100644
--- a/test/mavros_posix_tests_offboard_posctl.test
+++ b/test/mavros_posix_tests_offboard_posctl.test
@@ -5,10 +5,12 @@
     <arg name="est" default="ekf2"/>
     <arg name="gui" default="false"/>
     <arg name="vehicle" default="iris"/>
+    <arg name="interactive" default="false"/>
     <!-- MAVROS, PX4 SITL, Gazebo -->
     <include file="$(find px4)/launch/mavros_posix_sitl.launch">
         <arg name="est" value="$(arg est)"/>
         <arg name="gui" value="$(arg gui)"/>
+        <arg name="interactive" value="$(arg interactive)"/>
         <arg name="vehicle" value="$(arg vehicle)"/>
         <arg name="respawn_gazebo" value="true"/>
         <arg name="respawn_mavros" value="true"/>