mirror of
https://gitee.com/xiaohuolufeihua/bizhang_-obav.git
synced 2026-05-22 01:12:31 +00:00
SITL MAVROS tests move AddressSanitizer and Coverage variants to Github Actions
This commit is contained in:
Daniel Agar
@@ -1,178 +0,0 @@
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#!/usr/bin/env groovy
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pipeline {
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agent none
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stages {
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stage('Build') {
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agent {
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docker {
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image 'px4io/px4-dev-ros-melodic:2020-04-01'
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args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
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}
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}
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steps {
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sh 'export'
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sh 'make distclean'
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sh 'ccache -s'
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sh 'git fetch --tags'
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sh 'make px4_sitl_default'
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sh 'make px4_sitl_default sitl_gazebo'
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sh 'make px4_sitl_default package'
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sh 'ccache -s'
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stash(name: "px4_sitl_package", includes: "build/px4_sitl_default/*.bz2")
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//archiveArtifacts(artifacts: "build/px4_sitl_default/*.bz2", fingerprint: true, onlyIfSuccessful: true)
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}
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post {
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always {
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sh 'make distclean'
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}
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}
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} // stage Build
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stage('ROS Tests') {
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steps {
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script {
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def missions = [
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[
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name: "FW",
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test: "mavros_posix_test_mission.test",
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mission: "FW_mission_1",
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vehicle: "plane"
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],
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[
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name: "MC_box",
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test: "mavros_posix_test_mission.test",
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mission: "MC_mission_box",
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vehicle: "iris"
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],
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// [
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// name: "MC_offboard_att",
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// test: "mavros_posix_tests_offboard_attctl.test",
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// mission: "",
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// vehicle: "iris"
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// ],
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[
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name: "MC_offboard_pos",
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test: "mavros_posix_tests_offboard_posctl.test",
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mission: "",
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vehicle: "iris"
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],
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// [
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// name: "MC_offboard_rpyrt",
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// test: "mavros_posix_tests_offboard_rpyrt_ctl.test",
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// mission: "",
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// vehicle: "iris"
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// ],
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[
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name: "Rover 1",
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test: "mavros_posix_test_mission.test",
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mission: "rover_mission_1",
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vehicle: "rover"
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],
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[
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name: "VTOL_standard",
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test: "mavros_posix_test_mission.test",
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mission: "VTOL_mission_1",
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vehicle: "standard_vtol"
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],
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[
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name: "VTOL_tailsitter",
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test: "mavros_posix_test_mission.test",
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mission: "VTOL_mission_1",
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vehicle: "tailsitter"
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],
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[
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name: "VTOL_tiltrotor",
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test: "mavros_posix_test_mission.test",
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mission: "VTOL_mission_1",
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vehicle: "tiltrotor"
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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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name: "MC_safe_landing",
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test: "mavros_posix_test_safe_landing.test",
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mission: "MC_safe_landing",
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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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def test_nodes = [:]
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for (def i = 0; i < missions.size(); i++) {
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test_nodes.put(missions[i].name, createTestNode(missions[i]))
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}
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parallel test_nodes
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} // script
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} // steps
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} // stage ROS Tests
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} //stages
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environment {
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CCACHE_DIR = '/tmp/ccache'
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CI = true
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PX4_CMAKE_BUILD_TYPE = 'AddressSanitizer'
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}
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options {
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buildDiscarder(logRotator(numToKeepStr: '10', artifactDaysToKeepStr: '20'))
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timeout(time: 60, unit: 'MINUTES')
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}
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} // pipeline
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def createTestNode(Map test_def) {
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return {
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node {
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cleanWs()
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docker.image("px4io/px4-dev-ros-melodic:2020-04-01").inside('-e HOME=${WORKSPACE}') {
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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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sh('export')
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unstash('px4_sitl_package')
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sh('tar -xjpvf build/px4_sitl_default/px4-px4_sitl_default*.bz2')
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// run test
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try {
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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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// save all test artifacts for debugging
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archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.ulg, .ros/**/rosunit-*.xml, .ros/**/rostest-*.log')
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test_ok = false
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}
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// upload log to flight review (https://logs.px4.io/)
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sh('px4-px4_sitl_default*/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/log/*/*.ulg')
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// log analysis
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// process ekf log data
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try {
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sh('px4-px4_sitl_default*/px4/Tools/ecl_ekf/process_logdata_ekf.py .ros/log/*/*.ulg')
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} catch (exc) {
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// save log analysis artifacts for debugging
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archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.pdf, .ros/**/*.csv')
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// FIXME: don't let the script to fail the build
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// test_ok = false
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}
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if (!test_ok) {
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error('ROS Test failed')
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}
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} // stage
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cleanWs()
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} // docker.image
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} // node
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} // return
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} // createTestNode
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@@ -1,209 +0,0 @@
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#!/usr/bin/env groovy
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|
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pipeline {
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agent none
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stages {
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stage('ROS Tests') {
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steps {
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script {
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def missions = [
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[
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name: "FW",
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test: "mavros_posix_test_mission.test",
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mission: "FW_mission_1",
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vehicle: "plane"
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],
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[
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name: "MC_box",
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test: "mavros_posix_test_mission.test",
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mission: "MC_mission_box",
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vehicle: "iris"
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],
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// [
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// name: "MC_offboard_att",
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// test: "mavros_posix_tests_offboard_attctl.test",
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// mission: "",
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// vehicle: "iris"
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// ],
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[
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name: "MC_offboard_pos",
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test: "mavros_posix_tests_offboard_posctl.test",
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mission: "",
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vehicle: "iris"
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],
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// [
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// name: "MC_offboard_rpyrt",
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// test: "mavros_posix_tests_offboard_rpyrt_ctl.test",
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// mission: "",
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// vehicle: "iris"
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// ],
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[
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name: "Rover 1",
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test: "mavros_posix_test_mission.test",
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mission: "rover_mission_1",
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vehicle: "rover"
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],
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[
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name: "VTOL_standard",
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test: "mavros_posix_test_mission.test",
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mission: "VTOL_mission_1",
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vehicle: "standard_vtol"
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],
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[
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name: "VTOL_tailsitter",
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test: "mavros_posix_test_mission.test",
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mission: "VTOL_mission_1",
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vehicle: "tailsitter"
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],
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[
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name: "VTOL_tiltrotor",
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test: "mavros_posix_test_mission.test",
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mission: "VTOL_mission_1",
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vehicle: "tiltrotor"
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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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// name: "MC_safe_landing",
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// test: "mavros_posix_test_safe_landing.test",
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// mission: "MC_safe_landing",
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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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def test_nodes = [:]
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for (def i = 0; i < missions.size(); i++) {
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test_nodes.put(missions[i].name, createTestNode(missions[i]))
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}
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parallel test_nodes
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} // script
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} // steps
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} // stage ROS Tests
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stage('Coverage') {
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parallel {
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stage('code coverage (python)') {
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agent {
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docker {
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image 'px4io/px4-dev-base-bionic:2020-04-01'
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args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
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}
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}
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steps {
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sh 'export'
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sh 'make distclean'
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sh 'git fetch --tags'
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sh 'make python_coverage'
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withCredentials([string(credentialsId: 'FIRMWARE_CODECOV_TOKEN', variable: 'CODECOV_TOKEN')]) {
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sh 'curl -s https://codecov.io/bash | bash -s - -F python'
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}
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sh 'make distclean'
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}
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}
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stage('unit tests') {
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agent {
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docker {
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image 'px4io/px4-dev-base-bionic:2020-04-01'
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args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
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}
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}
|
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steps {
|
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sh 'export'
|
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sh 'make distclean'
|
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sh 'git fetch --tags'
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sh 'make tests'
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withCredentials([string(credentialsId: 'FIRMWARE_CODECOV_TOKEN', variable: 'CODECOV_TOKEN')]) {
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sh 'curl -s https://codecov.io/bash | bash -s - -F unittest'
|
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||||||
}
|
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||||||
sh 'make distclean'
|
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||||||
}
|
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||||||
}
|
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||||||
|
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||||||
} // parallel
|
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||||||
} // stage Coverage
|
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||||||
|
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||||||
} //stages
|
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|
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environment {
|
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CCACHE_DIR = '/tmp/ccache'
|
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CI = true
|
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||||||
CTEST_OUTPUT_ON_FAILURE = 1
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PX4_CMAKE_BUILD_TYPE = 'Coverage'
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||||||
}
|
|
||||||
|
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||||||
options {
|
|
||||||
buildDiscarder(logRotator(numToKeepStr: '10', artifactDaysToKeepStr: '20'))
|
|
||||||
timeout(time: 60, unit: 'MINUTES')
|
|
||||||
}
|
|
||||||
} // pipeline
|
|
||||||
|
|
||||||
def createTestNode(Map test_def) {
|
|
||||||
return {
|
|
||||||
node {
|
|
||||||
cleanWs()
|
|
||||||
docker.image("px4io/px4-dev-ros-melodic:2020-04-01").inside('-e HOME=${WORKSPACE}') {
|
|
||||||
stage(test_def.name) {
|
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||||||
def test_ok = true
|
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||||||
sh('export')
|
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||||||
|
|
||||||
checkout(scm)
|
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||||||
|
|
||||||
// run test
|
|
||||||
try {
|
|
||||||
sh('make distclean')
|
|
||||||
sh 'git fetch --tags'
|
|
||||||
sh('ccache -s')
|
|
||||||
sh('make px4_sitl_default')
|
|
||||||
sh('make px4_sitl_default sitl_gazebo')
|
|
||||||
sh('ccache -s')
|
|
||||||
sh('make rostest_run TEST_FILE=' + test_def.test + ' TEST_MISSION=' + test_def.mission + ' TEST_VEHICLE=' + test_def.vehicle)
|
|
||||||
} catch (exc) {
|
|
||||||
// save all test artifacts for debugging
|
|
||||||
archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.ulg, .ros/**/rosunit-*.xml, .ros/**/rostest-*.log')
|
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||||||
test_ok = false
|
|
||||||
}
|
|
||||||
|
|
||||||
// log analysis
|
|
||||||
withCredentials([string(credentialsId: 'FIRMWARE_CODECOV_TOKEN', variable: 'CODECOV_TOKEN')]) {
|
|
||||||
sh 'curl -s https://codecov.io/bash | bash -s - -F sitl_mission_${STAGE_NAME}'
|
|
||||||
|
|
||||||
// process log data (with python code coverage)
|
|
||||||
try {
|
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||||||
//sh('coverage run -p Tools/ecl_ekf/process_logdata_ekf.py .ros/log/*/*.ulg')
|
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||||||
sh('Tools/ecl_ekf/process_logdata_ekf.py .ros/log/*/*.ulg')
|
|
||||||
} catch (exc) {
|
|
||||||
// save log analysis artifacts for debugging
|
|
||||||
archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.pdf, .ros/**/*.csv')
|
|
||||||
// FIXME: don't let the script to fail the build
|
|
||||||
// test_ok = false
|
|
||||||
}
|
|
||||||
|
|
||||||
// upload log to flight review (https://logs.px4.io/) with python code coverage
|
|
||||||
sh('coverage run -p Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/log/*/*.ulg')
|
|
||||||
|
|
||||||
// upload python code coverage to codecov.io
|
|
||||||
sh 'curl -s https://codecov.io/bash | bash -s - -X gcov -F sitl_python_${STAGE_NAME}'
|
|
||||||
}
|
|
||||||
|
|
||||||
if (!test_ok) {
|
|
||||||
error('ROS Test failed')
|
|
||||||
}
|
|
||||||
} // stage
|
|
||||||
cleanWs()
|
|
||||||
} // docker.image
|
|
||||||
} // node
|
|
||||||
} // return
|
|
||||||
} // createTestNode
|
|
||||||
25
.github/workflows/mavros_sitl_tests.yml
vendored
25
.github/workflows/mavros_sitl_tests.yml
vendored
@@ -19,8 +19,10 @@ jobs:
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|||||||
- {vehicle: "rover", mission: "rover_mission_1", build_type: "RelWithDebInfo"}
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- {vehicle: "rover", mission: "rover_mission_1", build_type: "RelWithDebInfo"}
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- {vehicle: "plane", mission: "FW_mission_1", build_type: "RelWithDebInfo"}
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- {vehicle: "plane", mission: "FW_mission_1", build_type: "RelWithDebInfo"}
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||||||
- {vehicle: "standard_vtol", mission: "VTOL_mission_1", build_type: "RelWithDebInfo"}
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- {vehicle: "standard_vtol", mission: "VTOL_mission_1", build_type: "RelWithDebInfo"}
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||||||
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- {vehicle: "standard_vtol", mission: "VTOL_mission_1", build_type: "Coverage"}
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- {vehicle: "standard_vtol", mission: "VTOL_mission_1", build_type: "AddressSanitizer"}
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#- {vehicle: "tailsitter", mission: "VTOL_mission_1", build_type: "RelWithDebInfo"}
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#- {vehicle: "tailsitter", mission: "VTOL_mission_1", build_type: "RelWithDebInfo"}
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#- {vehicle: "tiltrotor", mission: "VTOL_mission_1", build_type: "RelWithDebInfo"}
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- {vehicle: "tiltrotor", mission: "VTOL_mission_1", build_type: "RelWithDebInfo"}
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||||||
|
|
||||||
container:
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container:
|
||||||
image: px4io/px4-dev-ros-melodic:2020-04-01
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image: px4io/px4-dev-ros-melodic:2020-04-01
|
||||||
@@ -54,18 +56,14 @@ jobs:
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|||||||
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- name: check environment
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- name: check environment
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||||||
run: export
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run: export
|
||||||
- name: Build PX4
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- name: Build PX4 and sitl_gazebo
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env:
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env:
|
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PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
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PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
|
||||||
run: make px4_sitl_default
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run: |
|
||||||
- name: ccache post-run px4/firmware
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ccache -z
|
||||||
run: ccache -s
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make px4_sitl_default
|
||||||
- name: Build SITL Gazebo
|
make px4_sitl_default sitl_gazebo
|
||||||
env:
|
ccache -s
|
||||||
PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
|
|
||||||
run: make px4_sitl_default sitl_gazebo
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|
||||||
- name: ccache post-run sitl_gazebo
|
|
||||||
run: ccache -s
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|
||||||
|
|
||||||
- name: Core dump settings
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- name: Core dump settings
|
||||||
run: |
|
run: |
|
||||||
@@ -91,8 +89,9 @@ jobs:
|
|||||||
path: px4.core
|
path: px4.core
|
||||||
|
|
||||||
- name: Upload logs to flight review
|
- name: Upload logs to flight review
|
||||||
#run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI .ros/log/*/*.ulg
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run: |
|
||||||
run: find . -name *.ulg
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find ~ -name *.ulg
|
||||||
|
./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ~/.ros/log/*/*.ulg
|
||||||
|
|
||||||
- name: Upload px4 binary
|
- name: Upload px4 binary
|
||||||
if: failure()
|
if: failure()
|
||||||
|
|||||||
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