Jenkins: add iris optical flow SITL test

[lamping7]

Initial step to get optical flow into CI.

Do we want to add this to ASan and coverage as well @dagar? The same question goes for MC_avoidance that was just merged in.

[dagar]

Do we want to add this to ASan and coverage as well @dagar? The same question goes for MC_avoidance that was just merged in.

Yes, I was hoping to find a non-terrible way to keep them in sync (or a single source).

[lamping7]

There are a few issues to fix that are known so far:

1. Jenkins doesn't have the sitl_gazebo lib for optical flow in the package
2. The current mission test scripts require valid home and global position before starting
3. Running the attitude control test and the position control test back to back crashes -- [Err] [gazebo_mavlink_interface.cpp:405] bind failed: Address already in use, aborting

If I work around all that, the position control test passes when I run this locally. However, the attitude test fails:

4. x, y position is reset mid-flight for some unknown reason

Examples:

• https://logs.px4.io/plot_app?log=2cc4baa7-5d93-4543-9304-0491aadc86fa (vehicle drops out of the sky in this one)
• https://logs.px4.io/plot_app?log=c3898a65-16b8-48dc-ad96-08b3335fc07e (thrust was increased from 70% to 90% to avoid falling)

I think the dropping altitude is unrelated. I haven't checked the mass associated with the sensor.

I see this regarding the x, y local position:

header: 
  seq: 2398
  stamp: 
    secs: 82
    nsecs: 176464035
  frame_id: "map"
pose: 
  position: 
    x: 69.7704467773
    y: 34.4448814392
    z: 120.961540222
  orientation: 
    x: 0.120540329184
    y: -0.245032036052
    z: -0.0309482201273
    w: -0.961494495646
---
header: 
  seq: 2399
  stamp: 
    secs: 82
    nsecs: 208463064
  frame_id: "map"
pose: 
  position: 
    x: -1.48350703954e-14
    y: 2.98627098781e-30
    z: 121.137542725
  orientation: 
    x: 0.120590278468
    y: -0.245054747935
    z: -0.030939959345
    w: -0.961482694528
---

[lamping7]

Getting Jenkins to have access that that optical flow lib broke other stuff with the package. It seems like we'll have to have the lib in two different places. I'm not sure of all the players here. Adding the lib needs to be optional for packages that don't build sitl_gazebo first.

Number two above is fixed so far.

[lamping7]

that makes it in the path for our test

[lamping7]

Number 1 is fixed.

[lamping7]

Number 3 involves waiting on the solution to PX4/PX4-SITL_gazebo-classic#289.

[lamping7]

Because of ports and gzserver not closing quick enough, the make commands that launch multiple tests back-to-back don't work anymore either (tests_mission and tests_offboard). Ideas on a fix here @dagar @julianoes ?

For this test, I could split them out in Jenkins, but that doesn't solve the problem with this test file or the make targets.

[dagar]

Because of ports and gzserver not closing quick enough, the make commands that launch multiple tests back-to-back don't work anymore either (tests_mission and tests_offboard). Ideas on a fix here @dagar @julianoes ?

For this test, I could split them out in Jenkins, but that doesn't solve the problem with this test file or the make targets.

Do you know if it's gzserver not closing quickly enough or questionable PX4 SITL shutdown/cleanup?

[julianoes]

That's probably related to PX4/PX4-SITL_gazebo-classic#289.

We could try to use SO_REUSEPORT as a workaround to allow binding to already bound port.

[julianoes]

This would still be nice!

[lamping7]

I just rebased. The Jenkins output looks different. I'll try this again.

[lamping7]

So it looks like my 3. above is no longer an issue, but we have that the position control test is no longer passing. Attitude control test still fails. Here are the logs from jenkins:

Attitude: https://logs.px4.io/plot_app?log=739b637d-945a-4e7e-a082-3a9984c21bd5
Position: https://logs.px4.io/plot_app?log=4029b2e6-bf33-48da-9a05-15f1599f0074

I got similar results when running this locally. Full console output can be found at: https://pastebin.com/jmqqg7U8

For the position test, I saw this locally, which doesn't show up in the logged messages in flight review from the Jenkins run:

WARN  [mc_pos_control] Auto activation failed with error: Activation Failed
WARN  [mc_pos_control] Position-Ctrl activation failed with error: Activation Failed
WARN  [mc_pos_control] Altitude-Ctrl activation failed with error: Activation Failed
WARN  [mc_pos_control] Position-Control Setpoint-Update failed
WARN  [mc_pos_control] Position-Control Setpoint-Update failed

[TSC21]

@lamping7 can we reboot this?

[lamping7]

Yes. I can rebase again and compare.

[lamping7]

I rebased just now. I'll check Jenkins in a bit and will edit this.

[stale]

This issue has been automatically marked as stale because it has not had recent activity. Thank you for your contributions.

[stale]

This issue has been automatically marked as stale because it has not had recent activity. Thank you for your contributions.