cmake: package px4 with sitl_gazebo plugins for jenkins ROS tests

Jenkinsfile

@@ -77,6 +77,28 @@ pipeline {
           builds["eagle (linux)"] = createBuildNodeDockerLogin(docker_snapdragon, 'docker_hub_dagar', 'posix_eagle_default')
           builds["eagle (qurt)"] = createBuildNodeDockerLogin(docker_snapdragon, 'docker_hub_dagar', 'qurt_eagle_default')
 
+          // posix_sitl_default with package
+          builds["sitl"] = {
+            node {
+              stage("Build Test sitl") {
+                docker.image(docker_ros).inside('-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE') {
+                  stage("sitl") {
+                    checkout scm
+                    sh "export"
+                    sh "make distclean"
+                    sh "ccache -z"
+                    sh "make posix_sitl_default"
+                    sh "ccache -s"
+                    sh "make posix_sitl_default sitl_gazebo"
+                    sh "make posix_sitl_default package"
+                    stash name: "px4_sitl_package", includes: "build/posix_sitl_default/*.zip"
+                    sh "make distclean"
+                  }
+                }
+              }
+            }
+          }
+
           // MAC OS posix_sitl_default
           builds["sitl (OSX)"] = {
             node("mac") {
@@ -286,15 +308,17 @@ pipeline {
           steps {
             sh 'export'
             sh 'make distclean; rm -rf .ros; rm -rf .gazebo'
-            sh 'git fetch --tags'
+            unstash 'px4_sitl_package'
-            sh 'make posix_sitl_default'
+            sh 'unzip build/posix_sitl_default/px4-posix_sitl_default*.zip'
-            sh 'make posix_sitl_default sitl_gazebo'
+            sh 'mv px4-posix_sitl_default*/bin/px4 px4-posix_sitl_default*/share/px4/'
-            sh './test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_new_1 vehicle:=standard_vtol'
+            sh 'chmod +x px4-posix_sitl_default*/share/px4/px4'
-            sh './Tools/ecl_ekf/process_logdata_ekf.py `find . -name *.ulg -print -quit`'
+            sh 'chmod +x px4-posix_sitl_default*/share/px4/integrationtests/python_src/px4_it/mavros/mission_test.py'
+            sh 'bash px4-posix_sitl_default*/share/px4/test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_new_1 vehicle:=standard_vtol'
+            sh 'python px4-posix_sitl_default*/share/px4/Tools/ecl_ekf/process_logdata_ekf.py `find . -name *.ulg -print -quit`'
           }
           post {
             always {
-              sh './Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
+              sh 'python px4-posix_sitl_default*/share/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
               archiveArtifacts '.ros/**/*.pdf'
               archiveArtifacts '.ros/**/*.csv'
               sh 'make distclean'
@@ -317,15 +341,17 @@ pipeline {
           steps {
             sh 'export'
             sh 'make distclean; rm -rf .ros; rm -rf .gazebo'
-            sh 'git fetch --tags'
+            unstash 'px4_sitl_package'
-            sh 'make posix_sitl_default'
+            sh 'unzip build/posix_sitl_default/px4-posix_sitl_default*.zip'
-            sh 'make posix_sitl_default sitl_gazebo'
+            sh 'mv px4-posix_sitl_default*/bin/px4 px4-posix_sitl_default*/share/px4/'
-            sh './test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_new_1 vehicle:=tailsitter'
+            sh 'chmod +x px4-posix_sitl_default*/share/px4/px4'
-            sh './Tools/ecl_ekf/process_logdata_ekf.py `find . -name *.ulg -print -quit`'
+            sh 'chmod +x px4-posix_sitl_default*/share/px4/integrationtests/python_src/px4_it/mavros/mission_test.py'
+            sh 'bash px4-posix_sitl_default*/share/px4/test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_new_1 vehicle:=tailsitter'
+            sh 'python px4-posix_sitl_default*/share/px4/Tools/ecl_ekf/process_logdata_ekf.py `find . -name *.ulg -print -quit`'
           }
           post {
             always {
-              sh './Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
+              sh 'python px4-posix_sitl_default*/share/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
               archiveArtifacts '.ros/**/*.pdf'
               archiveArtifacts '.ros/**/*.csv'
               sh 'make distclean'
@@ -348,15 +374,17 @@ pipeline {
           steps {
             sh 'export'
             sh 'make distclean; rm -rf .ros; rm -rf .gazebo'
-            sh 'git fetch --tags'
+            unstash 'px4_sitl_package'
-            sh 'make posix_sitl_default'
+            sh 'unzip build/posix_sitl_default/px4-posix_sitl_default*.zip'
-            sh 'make posix_sitl_default sitl_gazebo'
+            sh 'mv px4-posix_sitl_default*/bin/px4 px4-posix_sitl_default*/share/px4/'
-            sh './test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_new_1 vehicle:=tiltrotor'
+            sh 'chmod +x px4-posix_sitl_default*/share/px4/px4'
-            sh './Tools/ecl_ekf/process_logdata_ekf.py `find . -name *.ulg -print -quit`'
+            sh 'chmod +x px4-posix_sitl_default*/share/px4/integrationtests/python_src/px4_it/mavros/mission_test.py'
+            sh 'bash px4-posix_sitl_default*/share/px4/test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_new_1 vehicle:=tiltrotor'
+            sh 'python px4-posix_sitl_default*/share/px4/Tools/ecl_ekf/process_logdata_ekf.py `find . -name *.ulg -print -quit`'
           }
           post {
             always {
-              sh './Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
+              sh 'python px4-posix_sitl_default*/share/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
               archiveArtifacts '.ros/**/*.pdf'
               archiveArtifacts '.ros/**/*.csv'
               sh 'make distclean'
@@ -379,15 +407,17 @@ pipeline {
           steps {
             sh 'export'
             sh 'make distclean; rm -rf .ros; rm -rf .gazebo'
-            sh 'git fetch --tags'
+            unstash 'px4_sitl_package'
-            sh 'make posix_sitl_default'
+            sh 'unzip build/posix_sitl_default/px4-posix_sitl_default*.zip'
-            sh 'make posix_sitl_default sitl_gazebo'
+            sh 'mv px4-posix_sitl_default*/bin/px4 px4-posix_sitl_default*/share/px4/'
-            sh './test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_new_2 vehicle:=standard_vtol'
+            sh 'chmod +x px4-posix_sitl_default*/share/px4/px4'
-            sh './Tools/ecl_ekf/process_logdata_ekf.py `find . -name *.ulg -print -quit`'
+            sh 'chmod +x px4-posix_sitl_default*/share/px4/integrationtests/python_src/px4_it/mavros/mission_test.py'
+            sh 'bash px4-posix_sitl_default*/share/px4/test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_new_2 vehicle:=standard_vtol'
+            sh 'python px4-posix_sitl_default*/share/px4/Tools/ecl_ekf/process_logdata_ekf.py `find . -name *.ulg -print -quit`'
           }
           post {
             always {
-              sh './Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
+              sh 'python px4-posix_sitl_default*/share/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
               archiveArtifacts '.ros/**/*.pdf'
               archiveArtifacts '.ros/**/*.csv'
               sh 'make distclean'
@@ -410,15 +440,17 @@ pipeline {
           steps {
             sh 'export'
             sh 'make distclean; rm -rf .ros; rm -rf .gazebo'
-            sh 'git fetch --tags'
+            unstash 'px4_sitl_package'
-            sh 'make posix_sitl_default'
+            sh 'unzip build/posix_sitl_default/px4-posix_sitl_default*.zip'
-            sh 'make posix_sitl_default sitl_gazebo'
+            sh 'mv px4-posix_sitl_default*/bin/px4 px4-posix_sitl_default*/share/px4/'
-            sh './test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_old_1 vehicle:=standard_vtol'
+            sh 'chmod +x px4-posix_sitl_default*/share/px4/px4'
-            sh './Tools/ecl_ekf/process_logdata_ekf.py `find . -name *.ulg -print -quit`'
+            sh 'chmod +x px4-posix_sitl_default*/share/px4/integrationtests/python_src/px4_it/mavros/mission_test.py'
+            sh 'bash px4-posix_sitl_default*/share/px4/test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_old_1 vehicle:=standard_vtol'
+            sh 'python px4-posix_sitl_default*/share/px4/Tools/ecl_ekf/process_logdata_ekf.py `find . -name *.ulg -print -quit`'
           }
           post {
             always {
-              sh './Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
+              sh 'python px4-posix_sitl_default*/share/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
               archiveArtifacts '.ros/**/*.pdf'
               archiveArtifacts '.ros/**/*.csv'
               sh 'make distclean'
@@ -441,15 +473,17 @@ pipeline {
           steps {
             sh 'export'
             sh 'make distclean; rm -rf .ros; rm -rf .gazebo'
-            sh 'git fetch --tags'
+            unstash 'px4_sitl_package'
-            sh 'make posix_sitl_default'
+            sh 'unzip build/posix_sitl_default/px4-posix_sitl_default*.zip'
-            sh 'make posix_sitl_default sitl_gazebo'
+            sh 'mv px4-posix_sitl_default*/bin/px4 px4-posix_sitl_default*/share/px4/'
-            sh './test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_old_2 vehicle:=standard_vtol'
+            sh 'chmod +x px4-posix_sitl_default*/share/px4/px4'
-            sh './Tools/ecl_ekf/process_logdata_ekf.py `find . -name *.ulg -print -quit`'
+            sh 'chmod +x px4-posix_sitl_default*/share/px4/integrationtests/python_src/px4_it/mavros/mission_test.py'
+            sh 'bash px4-posix_sitl_default*/share/px4/test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_old_2 vehicle:=standard_vtol'
+            sh 'python px4-posix_sitl_default*/share/px4/Tools/ecl_ekf/process_logdata_ekf.py `find . -name *.ulg -print -quit`'
           }
           post {
             always {
-              sh './Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
+              sh 'python px4-posix_sitl_default*/share/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
               archiveArtifacts '.ros/**/*.pdf'
               archiveArtifacts '.ros/**/*.csv'
               sh 'make distclean'
@@ -472,15 +506,17 @@ pipeline {
           steps {
             sh 'export'
             sh 'make distclean; rm -rf .ros; rm -rf .gazebo'
-            sh 'git fetch --tags'
+            unstash 'px4_sitl_package'
-            sh 'make posix_sitl_default'
+            sh 'unzip build/posix_sitl_default/px4-posix_sitl_default*.zip'
-            sh 'make posix_sitl_default sitl_gazebo'
+            sh 'mv px4-posix_sitl_default*/bin/px4 px4-posix_sitl_default*/share/px4/'
-            sh './test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=multirotor_box vehicle:=iris'
+            sh 'chmod +x px4-posix_sitl_default*/share/px4/px4'
-            sh './Tools/ecl_ekf/process_logdata_ekf.py `find . -name *.ulg -print -quit`'
+            sh 'chmod +x px4-posix_sitl_default*/share/px4/integrationtests/python_src/px4_it/mavros/mission_test.py'
+            sh 'bash px4-posix_sitl_default*/share/px4/test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=multirotor_box vehicle:=iris'
+            sh 'python px4-posix_sitl_default*/share/px4/Tools/ecl_ekf/process_logdata_ekf.py `find . -name *.ulg -print -quit`'
           }
           post {
             always {
-              sh './Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
+              sh 'python px4-posix_sitl_default*/share/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
               archiveArtifacts '.ros/**/*.pdf'
               archiveArtifacts '.ros/**/*.csv'
               sh 'make distclean'
@@ -503,15 +539,17 @@ pipeline {
           steps {
             sh 'export'
             sh 'make distclean; rm -rf .ros; rm -rf .gazebo'
-            sh 'git fetch --tags'
+            unstash 'px4_sitl_package'
-            sh 'make posix_sitl_default'
+            sh 'unzip build/posix_sitl_default/px4-posix_sitl_default*.zip'
-            sh 'make posix_sitl_default sitl_gazebo'
+            sh 'mv px4-posix_sitl_default*/bin/px4 px4-posix_sitl_default*/share/px4/'
-            sh './test/rostest_px4_run.sh mavros_posix_tests_offboard_attctl.test'
+            sh 'chmod +x px4-posix_sitl_default*/share/px4/px4'
-            sh './Tools/ecl_ekf/process_logdata_ekf.py `find . -name *.ulg -print -quit`'
+            sh 'chmod +x px4-posix_sitl_default*/share/px4/integrationtests/python_src/px4_it/mavros/mavros_offboard_attctl_test.py'
+            sh 'bash px4-posix_sitl_default*/share/px4/test/rostest_px4_run.sh mavros_posix_tests_offboard_attctl.test'
+            sh 'python px4-posix_sitl_default*/share/px4/Tools/ecl_ekf/process_logdata_ekf.py `find . -name *.ulg -print -quit`'
           }
           post {
             always {
-              sh './Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
+              sh 'python px4-posix_sitl_default*/share/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
               archiveArtifacts '.ros/**/*.pdf'
               archiveArtifacts '.ros/**/*.csv'
               sh 'make distclean'
@@ -534,15 +572,17 @@ pipeline {
           steps {
             sh 'export'
             sh 'make distclean; rm -rf .ros; rm -rf .gazebo'
-            sh 'git fetch --tags'
+            unstash 'px4_sitl_package'
-            sh 'make posix_sitl_default'
+            sh 'unzip build/posix_sitl_default/px4-posix_sitl_default*.zip'
-            sh 'make posix_sitl_default sitl_gazebo'
+            sh 'mv px4-posix_sitl_default*/bin/px4 px4-posix_sitl_default*/share/px4/'
-            sh './test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test'
+            sh 'chmod +x px4-posix_sitl_default*/share/px4/px4'
-            sh './Tools/ecl_ekf/process_logdata_ekf.py `find . -name *.ulg -print -quit`'
+            sh 'chmod +x px4-posix_sitl_default*/share/px4/integrationtests/python_src/px4_it/mavros/mavros_offboard_posctl_test.py'
+            sh 'bash px4-posix_sitl_default*/share/px4/test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test'
+            sh 'python px4-posix_sitl_default*/share/px4/Tools/ecl_ekf/process_logdata_ekf.py `find . -name *.ulg -print -quit`'
           }
           post {
             always {
-              sh './Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
+              sh 'python px4-posix_sitl_default*/share/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
               archiveArtifacts '.ros/**/*.pdf'
               archiveArtifacts '.ros/**/*.csv'
               sh 'make distclean'

platforms/posix/CMakeLists.txt

@@ -92,6 +92,77 @@ endif()
 # install
 #
 
-install(TARGETS px4 DESTINATION ${CMAKE_INSTALL_BINDIR})
+# px4 app
-install(DIRECTORY ${PROJECT_SOURCE_DIR}/ROMFS DESTINATION ${CMAKE_INSTALL_DATADIR}/${PROJECT_NAME})
+install(
-install(DIRECTORY ${PROJECT_SOURCE_DIR}/posix-configs DESTINATION ${CMAKE_INSTALL_DATADIR}/${PROJECT_NAME})
+	TARGETS
+		px4
+	DESTINATION
+		${CMAKE_INSTALL_BINDIR}
+	)
+
+# px4 dirs
+install(
+	DIRECTORY
+		${PROJECT_SOURCE_DIR}/integrationtests
+		${PROJECT_SOURCE_DIR}/launch
+		${PROJECT_SOURCE_DIR}/posix-configs
+		${PROJECT_SOURCE_DIR}/ROMFS
+		${PROJECT_SOURCE_DIR}/test
+	DESTINATION
+		${CMAKE_INSTALL_DATADIR}/${PROJECT_NAME}
+	)
+
+# px4 files
+install(
+	FILES
+		${PROJECT_SOURCE_DIR}/CMakeLists.txt
+		${PROJECT_SOURCE_DIR}/package.xml
+	DESTINATION
+		${CMAKE_INSTALL_DATADIR}/${PROJECT_NAME}
+	)
+
+# px4 Tools dirs
+install(
+	DIRECTORY
+		${PROJECT_SOURCE_DIR}/Tools/ecl_ekf
+	DESTINATION
+		${CMAKE_INSTALL_DATADIR}/${PROJECT_NAME}/Tools
+	)
+
+# px4 Tools files
+install(
+	FILES
+		${PROJECT_SOURCE_DIR}/Tools/setup_gazebo.bash
+		${PROJECT_SOURCE_DIR}/Tools/upload_log.py
+	DESTINATION
+		${CMAKE_INSTALL_DATADIR}/${PROJECT_NAME}/Tools
+	)
+
+# sitl_gazebo built plugins
+install(
+	DIRECTORY
+		${PROJECT_SOURCE_DIR}/build/posix_sitl_default/build_gazebo
+	DESTINATION
+		${CMAKE_INSTALL_DATADIR}/${PROJECT_NAME}/build/posix_sitl_default
+	FILES_MATCHING
+		PATTERN "CMakeFiles" EXCLUDE
+		PATTERN "*.so"
+	)
+
+# sitl_gazebo dirs
+install(
+	DIRECTORY
+		${PROJECT_SOURCE_DIR}/Tools/sitl_gazebo/models
+		${PROJECT_SOURCE_DIR}/Tools/sitl_gazebo/worlds
+	DESTINATION
+		${CMAKE_INSTALL_DATADIR}/${PROJECT_NAME}/Tools/sitl_gazebo
+	)
+
+# sitl_gazebo files
+install(
+	FILES
+		${PROJECT_SOURCE_DIR}/Tools/sitl_gazebo/CMakeLists.txt
+		${PROJECT_SOURCE_DIR}/Tools/sitl_gazebo/package.xml
+	DESTINATION
+		${CMAKE_INSTALL_DATADIR}/${PROJECT_NAME}/Tools/sitl_gazebo
+	)