restored the testing pipeline from history

ros_packages/mrs_uav_gazebo_simulation/CMakeLists.txt

@@ -13,6 +13,7 @@ set(CATKIN_DEPENDENCIES
   px4
   rospy
   std_msgs
+  mrs_uav_testing
   )
 
 find_package(catkin REQUIRED COMPONENTS
@@ -32,15 +33,18 @@ include_directories(
   ${mavros_msgs_INCLUDE_DIRS}
   )
 
+if(COVERAGE)
+  message(WARNING "building with --coverage, the performance might be limited")
+  set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} --coverage")
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} --coverage")
+endif()
+
 ## --------------------------------------------------------------
 ## |                           Testing                          |
 ## --------------------------------------------------------------
 
 if(CATKIN_ENABLE_TESTING)
 
-  set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} --coverage")
-  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} --coverage")
-
   add_subdirectory(test)
 
 endif()

ros_packages/mrs_uav_gazebo_simulation/package.xml

@@ -25,6 +25,7 @@
   <depend>px4</depend>
   <depend>rospy</depend>
   <depend>std_msgs</depend>
+  <depend>mrs_uav_testing</depend>
 
   <depend>python3-jinja2</depend>
 

ros_packages/mrs_uav_gazebo_simulation/test/CMakeLists.txt

@@ -1,25 +1,3 @@
 find_package(rostest REQUIRED)
 
-### WARNING
-### NEVER name your test build unit the same as the folder that it is placed in!
-### e.g., this will cause problems:
-###   add_rostest_gtest(my_test
-###     my_test/basic.test
-###     my_test/test.cpp
-###     )
-
-# basic test
-
-add_rostest_gtest(test_basic
-  basic/basic.test
-  basic/test.cpp
-  )
-
-target_link_libraries(test_basic
-  ${catkin_LIBRARIES}
-  )
-
-add_dependencies(test_basic
-  ${${PROJECT_NAME}_EXPORTED_TARGETS}
-  ${catkin_EXPORTED_TARGETS}
-  )
+add_subdirectory(takeoff)

ros_packages/mrs_uav_gazebo_simulation/test/all_tests.sh

@@ -5,31 +5,30 @@ set -e
 trap 'last_command=$current_command; current_command=$BASH_COMMAND' DEBUG
 trap 'echo "$0: \"${last_command}\" command failed with exit code $?"' ERR
 
-PACKAGE="mrs_uav_gazebo_simulation"
-VERBOSE=1
-
-[ "$VERBOSE" = "0" ] && TEXT_OUTPUT=""
-[ "$VERBOSE" = "1" ] && TEXT_OUTPUT="-t"
-
-# build the package
-catkin build $PACKAGE # it has to be fully built normally before building with --catkin-make-args tests
-catkin build $PACKAGE --no-deps --catkin-make-args tests
-
-TEST_FILES=$(find . -name "*.test" -type f -printf "%f\n")
+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
 
-for TEST_FILE in `echo $TEST_FILES`; do
+cd build
 
-  echo "$0: running test '$TEST_FILE'"
+OLD_FILES=$(find . -name "*.gcda")
 
-  # folder for test results
-  TEST_RESULT_PATH=$(realpath /tmp/$RANDOM)
-  mkdir -p $TEST_RESULT_PATH
+for FILE in $OLD_FILES; do
+  echo "$0: removing old coverage file '$FILE'"
+  rm $FILE
+done
 
-  # run the test
-  rostest $PACKAGE $TEST_FILE $TEXT_OUTPUT --results-filename=$PACKAGE.test --results-base-dir="$TEST_RESULT_PATH"
+cd $ORIGINAL_PATH
 
-  # evaluate the test results
-  echo test result path is $TEST_RESULT_PATH
-  catkin_test_results "$TEST_RESULT_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
 
-done
+catkin test --this -i -p 1 -s