updated test format

ros_packages/mrs_uav_gazebo_simulation/CMakeLists.txt

@@ -43,7 +43,9 @@ endif()
 ## |                           Testing                          |
 ## --------------------------------------------------------------
 
-if(CATKIN_ENABLE_TESTING)
+if(CATKIN_ENABLE_TESTING AND MRS_ENABLE_TESTING)
+
+  message(WARNING "Testing enabled.")
 
   add_subdirectory(test)
 

ros_packages/mrs_uav_gazebo_simulation/test/compile_tests.sh

@@ -7,4 +7,4 @@ 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
+catkin build --this -DMRS_ENABLE_TESTING=1 --no-deps --catkin-make-args tests

ros_packages/mrs_uav_gazebo_simulation/test/gather_coverage.sh

@@ -0,0 +1,25 @@
+#!/bin/bash
+
+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 "$0: could not find the root of the current workspace".
+    return 1
+  fi
+done
+
+WORKSPACE_NAME=${PWD##*/}
+
+cd build
+
+lcov --capture --directory . --output-file coverage.info
+lcov --remove coverage.info "*/test/*" --output-file coverage.info.removed
+lcov --extract coverage.info.removed "*/${WORKSPACE_NAME}/src/*" --output-file coverage.info.cleaned
+genhtml --title "MRS UAV System - Test coverage report" --demangle-cpp --legend --frames --show-details -o coverage_html coverage.info.cleaned | tee /tmp/genhtml.log
+
+COVERAGE_PCT=`cat /tmp/genhtml.log | tail -n 1 | awk '{print $2}'`
+
+echo "Coverage: $COVERAGE_PCT"
+
+xdg-open coverage_html/index.html

ros_packages/mrs_uav_gazebo_simulation/test/run_tests.sh

@@ -0,0 +1,8 @@
+#!/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
+
+catkin test --this -i -p 1 -s

ros_packages/mrs_uav_gazebo_simulation/tmux/one_drone/config/custom_config.yaml

@@ -4,12 +4,11 @@ mrs_uav_managers:
 
     # loaded state estimator plugins
     state_estimators: [
-      "gps_garmin",
       "gps_baro",
     ]
 
-    initial_state_estimator: "gps_garmin" # will be used as the first state estimator
-    agl_height_estimator: "garmin_agl" # only slightly filtered height for checking min height (not used in control feedback)
+    initial_state_estimator: "gps_baro" # will be used as the first state estimator
+    agl_height_estimator: "" # only slightly filtered height for checking min height (not used in control feedback)
 
   uav_manager:
 

ros_packages/mrs_uav_gazebo_simulation/tmux/one_drone/session.yml

@@ -5,7 +5,7 @@ socket_name: mrs
 attach: false
 tmux_options: -f /etc/ctu-mrs/tmux.conf
 # you can modify these
-pre_window: export UAV_NAME=uav1; export RUN_TYPE=simulation; export UAV_TYPE=x500
+pre_window: export UAV_NAME=uav1; export RUN_TYPE=simulation; export UAV_TYPE=naki
 startup_window: status
 windows:
   - roscore:
@@ -16,7 +16,7 @@ windows:
       layout: tiled
       panes:
         - waitForRos; roslaunch mrs_uav_gazebo_simulation simulation.launch world_name:=grass_plane gui:=true
-        - waitForGazebo; rosservice call /mrs_drone_spawner/spawn "1 --$UAV_TYPE --enable-rangefinder"
+        - waitForGazebo; rosservice call /mrs_drone_spawner/spawn "1 --$UAV_TYPE"
         - waitForControl; gz camera -c gzclient_camera -f $UAV_NAME; history -s gz camera -c gzclient_camera -f $UAV_NAME
   - status:
       layout: tiled