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reorganized posix sitl launch scripts, reorganized mavros python test scripts (integration tests) and updated them for posix sitl, removed old and not working integration tests

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This commit is contained in:
Andreas Antener
2016-04-20 16:51:58 +02:00
parent a8a57ca20c
commit bee2c98785
20 changed files with 146 additions and 370 deletions
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21
launch/mavros.launch Normal file
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<launch>
<!-- MAVROS launch script PX4 (default) -->
<arg name="ns" default="/" />
<arg name="fcu_url" default="" />
<arg name="gcs_url" default="udp://:14550@:14555" />
<arg name="tgt_system" default="1" />
<arg name="tgt_component" default="1" />
<group ns="$(arg ns)">
<include file="$(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="fcu_url" value="$(arg fcu_url)" />
<arg name="gcs_url" value="$(arg gcs_url)" />
<arg name="tgt_system" value="$(arg tgt_system)" />
<arg name="tgt_component" value="$(arg tgt_component)" />
</include>
</group>
</launch>

22
launch/mavros_posix_sitl.launch Normal file
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<launch>
<!-- MAVROS posix SITL environment launch script -->
<arg name="headless" default="false"/>
<arg name="gui" default="true"/>
<arg name="ns" default="/"/>
<arg name="world" default="iris"/>
<arg name="build" default="posix_sitl_default"/>
<include file="$(find px4)/launch/posix_sitl.launch">
<arg name="headless" value="$(arg headless)"/>
<arg name="gui" value="$(arg gui)"/>
<arg name="ns" value="$(arg ns)"/>
<arg name="world" value="$(arg world)"/>
<arg name="build" value="$(arg build)"/>
</include>
<include file="$(find px4)/launch/mavros.launch">
<arg name="ns" value="$(arg ns)"/>
<arg name="fcu_url" value="udp://:14567@localhost:14557"/>
</include>
</launch>

18
launch/mavros_posix_tests_iris.launch Normal file
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<launch>
<!-- Posix SITL MAVROS integration tests -->
<arg name="ns" default="/"/>
<arg name="headless" default="true"/>
<arg name="gui" default="false"/>
<include file="$(find px4)/launch/mavros_posix_sitl.launch">
<arg name="ns" value="$(arg ns)"/>
<arg name="headless" value="$(arg headless)"/>
<arg name="gui" value="$(arg gui)"/>
</include>
<group ns="$(arg ns)">
<test test-name="mavros_offboard_posctl_test" pkg="px4" type="mavros_offboard_posctl_test.py" time-limit="120.0" />
<test test-name="mavros_offboard_attctl_test" pkg="px4" type="mavros_offboard_attctl_test.py" />
</group>
</launch>

3
launch/mavros_sitl.launch
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@@ -1,6 +1,5 @@
<launch>
<!-- vim: set ft=xml noet : -->
<!-- example launch script for PX4 based FCU's -->
<!-- MAVROS launch script for deprecated multiplatform SITL -->
<arg name="ns" default="/" />
<arg name="fcu_url" default="udp://localhost:14560@localhost:14565" />

19
launch/posix_sitl.launch Normal file
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<launch>
<!-- Posix SITL environment launch script -->
<arg name="headless" default="false"/>
<arg name="gui" default="true"/>
<arg name="ns" default="/"/>
<arg name="world" default="iris"/>
<arg name="build" default="posix_sitl_default"/>
<node pkg="px4" type="sitl_run.sh" name="simulator" args="posix-configs/SITL/init/rcS none gazebo iris $(find px4)/build_$(arg build)">
<env name="no_sim" value="1" />
</node>
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="headless" value="$(arg headless)"/>
<arg name="gui" value="$(arg gui)"/>
<arg name="world_name" value="$(find px4)/Tools/sitl_gazebo/worlds/$(arg world).world" />
</include>
</launch>