CI: add iris optical flow to jenkins ros tests

PX4 · Oct 18, 2019 · 75d15a0 · 75d15a0
1 parent 95dc522
commit 75d15a0
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Showing 5 changed files with 26 additions and 6 deletions.
diff --git a/.ci/Jenkinsfile-SITL_tests b/.ci/Jenkinsfile-SITL_tests
@@ -60,6 +60,12 @@ pipeline {
               mission: "",
               vehicle: "iris"
             ],
+            [
+              name: "MC_optical_flow",
+              test: "mavros_posix_tests_iris_opt_flow.test",
+              mission: "",
+              vehicle: ""
+            ],
 
             [
               name: "Rover 1",

diff --git a/integrationtests/python_src/px4_it/mavros/mavros_offboard_attctl_test.py b/integrationtests/python_src/px4_it/mavros/mavros_offboard_attctl_test.py
@@ -107,7 +107,7 @@ def test_attctl(self):
         boundary_z = 20
 
         # make sure the simulation is ready to start the mission
-        self.wait_for_topics(60)
+        self.wait_for_topics(60, ignore_gps=True)
         self.wait_for_landed_state(mavutil.mavlink.MAV_LANDED_STATE_ON_GROUND,
                                    10, -1)
 

diff --git a/integrationtests/python_src/px4_it/mavros/mavros_offboard_posctl_test.py b/integrationtests/python_src/px4_it/mavros/mavros_offboard_posctl_test.py
@@ -155,9 +155,11 @@ def reach_position(self, x, y, z, timeout):
     #
     def test_posctl(self):
         """Test offboard position control"""
+        positions = ((0, 0, 0), (50, 50, 20), (50, -50, 20), (-50, -50, 20),
+                     (0, 0, 20))
 
         # make sure the simulation is ready to start the mission
-        self.wait_for_topics(60)
+        self.wait_for_topics(60, ignore_gps=True)
         self.wait_for_landed_state(mavutil.mavlink.MAV_LANDED_STATE_ON_GROUND,
                                    10, -1)
 
@@ -166,9 +168,6 @@ def test_posctl(self):
         self.set_arm(True, 5)
 
         rospy.loginfo("run mission")
-        positions = ((0, 0, 0), (50, 50, 20), (50, -50, 20), (-50, -50, 20),
-                     (0, 0, 20))
-
         for i in xrange(len(positions)):
             self.reach_position(positions[i][0], positions[i][1],
                                 positions[i][2], 30)

diff --git a/integrationtests/python_src/px4_it/mavros/mavros_test_common.py b/integrationtests/python_src/px4_it/mavros/mavros_test_common.py
@@ -223,11 +223,16 @@ def set_mode(self, mode, timeout):
             "failed to set mode | new mode: {0}, old mode: {1} | timeout(seconds): {2}".
             format(mode, old_mode, timeout)))
 
-    def wait_for_topics(self, timeout):
+    def wait_for_topics(self, timeout, ignore_gps=False):
         """wait for simulation to be ready, make sure we're getting topic info
         from all topics by checking dictionary of flag values set in callbacks,
         timeout(int): seconds"""
         rospy.loginfo("waiting for subscribed topics to be ready")
+
+        if ignore_gps:
+            self.sub_topics_ready.pop('global_pos', None)
+            self.sub_topics_ready.pop('home_pos', None)
+
         loop_freq = 1  # Hz
         rate = rospy.Rate(loop_freq)
         simulation_ready = False

diff --git a/platforms/posix/CMakeLists.txt b/platforms/posix/CMakeLists.txt
@@ -165,9 +165,19 @@ elseif ("${PX4_BOARD}" MATCHES "sitl")
 			${PROJECT_NAME}/build/px4_sitl_default
 		FILES_MATCHING
 			PATTERN "CMakeFiles" EXCLUDE
+			PATTERN "OpticalFlow" EXCLUDE
 			PATTERN "*.so"
 		)
 
+	# sitl_gazebo built optical flow plugin
+	install(
+		FILES
+			${PROJECT_SOURCE_DIR}/build/px4_sitl_default/build_gazebo/OpticalFlow/libOpticalFlow.so
+		DESTINATION
+			${PROJECT_NAME}/build/px4_sitl_default/build_gazebo
+		OPTIONAL
+		)
+
 	# sitl_gazebo dirs
 	install(
 		DIRECTORY