added the first gtest

CMakeLists.txt

@@ -30,6 +30,7 @@ set(CATKIN_DEPENDENCIES
   roscpp
   sensor_msgs
   std_msgs
+  mrs_uav_testing
   )
 
 set(LIBRARIES
@@ -446,6 +447,16 @@ target_link_libraries(uvdar_led_manager_node
   ${catkin_LIBRARIES}
   )
 
+## --------------------------------------------------------------
+## |                           Testing                          |
+## --------------------------------------------------------------
+
+if(CATKIN_ENABLE_TESTING)
+
+  add_subdirectory(test)
+
+endif()
+
 ## --------------------------------------------------------------
 ## |                           Install                          |
 ## --------------------------------------------------------------

package.xml

@@ -22,6 +22,7 @@
   <depend>sensor_msgs</depend>
   <depend>std_msgs</depend>
   <depend>libgbm-dev</depend>
+  <depend>mrs_uav_testing</depend>
 
   <export>
     <nodelet plugin="${prefix}/nodelets.xml" />

test/CMakeLists.txt

@@ -0,0 +1,3 @@
+find_package(rostest REQUIRED)
+
+add_subdirectory(test_example)

test/all_tests.sh

@@ -0,0 +1,34 @@
+#!/bin/bash
+
+set -e
+
+trap 'last_command=$current_command; current_command=$BASH_COMMAND' DEBUG
+trap 'echo "$0: \"${last_command}\" command failed with exit code $?"' ERR
+
+ORIGINAL_PATH=`pwd`
+
+while [ ! -e ".catkin_tools" ]; do
+  cd ..
+  if [[ `pwd` == "/" ]]; then
+    # we reached the root and didn't find the build/COLCON_IGNORE file - that's a fail!
+    echo "$0: could not find the root of the current workspace".
+    return 1
+  fi
+done
+
+cd build
+
+OLD_FILES=$(find . -name "*.gcda")
+
+for FILE in $OLD_FILES; do
+  echo "$0: removing old coverage file '$FILE'"
+  rm $FILE
+done
+
+cd $ORIGINAL_PATH
+
+# build the package
+catkin build --this # it has to be fully built normally before building with --catkin-make-args tests
+catkin build --this --no-deps --catkin-make-args tests
+
+catkin test --this -i -p 1 -s

test/compile_tests.sh

@@ -0,0 +1,10 @@
+#!/bin/bash
+
+set -e
+
+trap 'last_command=$current_command; current_command=$BASH_COMMAND' DEBUG
+trap 'echo "$0: \"${last_command}\" command failed with exit code $?"' ERR
+
+# build the package
+catkin build --this # it has to be fully built normally before building with --catkin-make-args tests
+catkin build --this --no-deps --catkin-make-args tests

test/test_example/CMakeLists.txt

@@ -0,0 +1,16 @@
+get_filename_component(TEST_NAME "${CMAKE_CURRENT_SOURCE_DIR}" NAME)
+
+catkin_add_executable_with_gtest(test_${TEST_NAME}
+  test.cpp
+  )
+
+target_link_libraries(test_${TEST_NAME}
+  ${catkin_LIBRARIES}
+  )
+
+add_dependencies(test_${TEST_NAME}
+  ${${PROJECT_NAME}_EXPORTED_TARGETS}
+  ${catkin_EXPORTED_TARGETS}
+  )
+
+add_rostest(${TEST_NAME}.test)

test/test_example/test.cpp

@@ -0,0 +1,90 @@
+#include <gtest/gtest.h>
+
+#include <mrs_uav_testing/test_generic.h>
+
+class Tester : public mrs_uav_testing::TestGeneric {
+
+public:
+  Tester();
+
+  bool test();
+};
+
+Tester::Tester() : mrs_uav_testing::TestGeneric() {
+
+  // create your own subscribers, publishers, etc here.
+  //
+  // check the mrs_uav_testing::TestGeneric for existing stuff
+  // this->nh_ is available
+}
+
+bool Tester::test() {
+
+  {
+    auto [success, message] = spawnGazeboUav();
+
+    if (!success) {
+      ROS_ERROR("[%s]: gazebo UAV spawning failed with message: '%s'", ros::this_node::getName().c_str(), message.c_str());
+      return false;
+    }
+  }
+
+  // wait for the MRS system
+  while (true) {
+
+    ROS_INFO_THROTTLE(1.0, "[%s]: waiting for the MRS system", ros::this_node::getName().c_str());
+
+    if (!ros::ok()) {
+      ROS_ERROR("[%s]: killed from outside", ros::this_node::getName().c_str());
+      return false;
+    }
+
+    if (this->mrsSystemReady()) {
+      break;
+    }
+  }
+
+  {
+    auto [success, message] = this->takeoff();
+
+    if (!success) {
+      ROS_ERROR("[%s]: takeoff failed with message: '%s'", ros::this_node::getName().c_str(), message.c_str());
+      return false;
+    }
+  }
+
+  this->sleep(5.0);
+
+  if (this->isFlyingNormally()) {
+    return true;
+  } else {
+    ROS_ERROR("[%s]: not flying normally", ros::this_node::getName().c_str());
+    return false;
+  }
+}
+
+// --------------------------------------------------------------
+// |                     DO NOT MODIFY BELOW                    |
+// --------------------------------------------------------------
+
+TEST(TESTSuite, test) {
+
+  Tester tester;
+
+  bool result = tester.test();
+
+  if (result) {
+    GTEST_SUCCEED();
+  } else {
+    GTEST_FAIL();
+  }
+}
+
+int main([[maybe_unused]] int argc, [[maybe_unused]] char** argv) {
+
+  ros::init(argc, argv, "test");
+
+  testing::InitGoogleTest(&argc, argv);
+
+  return RUN_ALL_TESTS();
+}

test/test_example/test_example.test

@@ -0,0 +1,35 @@
+<launch>
+
+  <arg name="this_path" default="$(dirname)" />
+
+  <arg name="UAV_NAME" default="uav1" />
+  <arg name="UAV_TYPE" default="x500" />
+
+    <!-- automatically deduce the test name -->
+  <arg name="test_name" default="$(eval arg('this_path').split('/')[-1])" />
+
+    <!-- automatically deduce the package name -->
+  <arg name="import_eval" default="eval('_' + '_import_' + '_')"/>
+  <arg name="package_eval" default="eval(arg('import_eval') + '(\'rospkg\')').get_package_name(arg('this_path'))" />
+  <arg name="package" default="$(eval eval(arg('package_eval')))" />
+
+  <include file="$(find mrs_uav_testing)/launch/gazebo_simulator.launch" />
+
+  <include file="$(find mrs_uav_px4_api)/launch/api.launch">
+    <arg name="UAV_NAME" default="$(arg UAV_NAME)" />
+    <arg name="RUN_TYPE" default="simulation" />
+  </include>
+
+  <include file="$(find mrs_uav_testing)/launch/mrs_uav_system.launch">
+    <arg name="automatic_start" default="true" />
+    <arg name="platform_config" default="$(find mrs_uav_gazebo_simulation)/config/mrs_uav_system/$(arg UAV_TYPE).yaml" />
+    <arg name="UAV_NAME" default="$(arg UAV_NAME)" />
+  </include>
+
+  <test pkg="$(arg package)" type="test_$(arg test_name)" test-name="$(arg test_name)" time-limit="120.0">
+    <param name="test_name" value="$(arg test_name)" />
+    <param name="uav_name" value="$(arg UAV_NAME)" />
+    <param name="gazebo_spawner_params" value="1 --$(arg UAV_TYPE) --enable-rangefinder" />
+  </test>
+
+</launch>