updated tests

ctu-mrs · Dec 4, 2023 · d7af9ce · d7af9ce
1 parent c239722
commit d7af9ce
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Showing 16 changed files with 110 additions and 411 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -14,6 +14,7 @@ set(CATKIN_DEPENDENCIES
   nodelet
   std_msgs
   topic_tools
+  mrs_uav_testing
   )
 
 find_package(catkin REQUIRED COMPONENTS

diff --git a/package.xml b/package.xml
@@ -21,6 +21,7 @@
   <depend>nodelet</depend>
   <depend>std_msgs</depend>
   <depend>topic_tools</depend>
+  <depend>mrs_uav_testing</depend>
 
   <export>
     <nodelet plugin="${prefix}/nodelets.xml" />

diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
@@ -1,19 +1,4 @@
 find_package(rostest REQUIRED)
+find_package(mrs_uav_testing REQUIRED)
 
-# takeoff test
-
-add_rostest_gtest(MrsUavAutostart_basic
-  basic/basic.test
-  basic/test.cpp
-  )
-
-target_link_libraries(
-  MrsUavAutostart_basic
-  ${catkin_LIBRARIES}
-  )
-
-add_dependencies(
-  MrsUavAutostart_basic
-  ${${PROJECT_NAME}_EXPORTED_TARGETS}
-  ${catkin_EXPORTED_TARGETS}
-  )
+add_subdirectory(takeoff)
diff --git a/test/all_tests.sh b/test/all_tests.sh
@@ -5,31 +5,8 @@ set -e
 trap 'last_command=$current_command; current_command=$BASH_COMMAND' DEBUG
 trap 'echo "$0: \"${last_command}\" command failed with exit code $?"' ERR
 
-PACKAGE="mrs_uav_autostart"
-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")
-
-for TEST_FILE in `echo $TEST_FILES`; do
-
-  echo "$0: running test '$TEST_FILE'"
-
-  # folder for test results
-  TEST_RESULT_PATH=$(realpath /tmp/$RANDOM)
-  mkdir -p $TEST_RESULT_PATH
-
-  # run the test
-  rostest $PACKAGE $TEST_FILE $TEXT_OUTPUT --results-filename=$PACKAGE.test --results-base-dir="$TEST_RESULT_PATH"
-
-  # evaluate the test results
-  echo test result path is $TEST_RESULT_PATH
-  catkin_test_results "$TEST_RESULT_PATH"
+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
diff --git a/test/basic/basic.test b/test/basic/basic.test
diff --git a/test/basic/config/custom_config.yaml b/test/basic/config/custom_config.yaml
diff --git a/test/basic/config/network_config.yaml b/test/basic/config/network_config.yaml
diff --git a/test/basic/config/simulator.yaml b/test/basic/config/simulator.yaml
diff --git a/test/basic/config/world_config.yaml b/test/basic/config/world_config.yaml
diff --git a/test/basic/launch/mrs_uav_system.launch b/test/basic/launch/mrs_uav_system.launch
diff --git a/test/basic/test.cpp b/test/basic/test.cpp