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cmake px4 + sitl package #9309

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merged 6 commits into from
May 25, 2018
Merged

cmake px4 + sitl package #9309

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e8b3408
cmake: package px4 with sitl_gazebo plugins for jenkins ROS tests
lamping7 May 2, 2018
57bf5cd
tools: cleanup setup for gazebo env vars
lamping7 May 2, 2018
115e714
cmake: package create tarball
lamping7 May 7, 2018
2aec846
cmake: package don't use bin and share dirs
lamping7 May 24, 2018
b792699
jenkins: don't do checkout step for ROS tests with package
lamping7 May 24, 2018
68aaac9
Jenkins don't distclean without checkout
dagar May 25, 2018
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7 changes: 5 additions & 2 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -454,17 +454,20 @@ set(CPACK_DEBIAN_PACKAGE_SHLIBDEPS ON)
set(CPACK_DEBIAN_PACKAGE_SECTION "devel")
set(CPACK_DEBIAN_PACKAGE_PRIORITY "optional")
set(CPACK_DEBIAN_PACKAGE_DESCRIPTION "The PX4 Pro autopilot.")
set(CPACK_GENERATOR "ZIP")
set(CPACK_PACKAGE_FILE_NAME "${PROJECT_NAME}-${CONFIG}-${git_tag}")
set(CPACK_SOURCE_PACKAGE_FILE_NAME "${PROJECT_NAME}-${git_version}")
set(CPACK_SOURCE_GENERATOR "ZIP;TBZ2")
set(CPACK_PACKAGING_INSTALL_PREFIX "")
set(CPACK_SET_DESTDIR "OFF")

if ("${CMAKE_SYSTEM}" MATCHES "Linux")
set(CPACK_GENERATOR "TBZ2")
find_program(DPKG_PROGRAM dpkg)
if (EXISTS ${DPKG_PROGRAM})
list (APPEND CPACK_GENERATOR "DEB")
endif()
else()
set(CPACK_GENERATOR "ZIP")
endif()
include(CPack)

include(CPack)
172 changes: 100 additions & 72 deletions Jenkinsfile
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Original file line number Diff line number Diff line change
Expand Up @@ -77,6 +77,28 @@ pipeline {
builds["eagle (linux)"] = createBuildNodeDockerLogin(docker_snapdragon, 'docker_hub_dagar', 'posix_eagle_default')
builds["eagle (qurt)"] = createBuildNodeDockerLogin(docker_snapdragon, 'docker_hub_dagar', 'qurt_eagle_default')

// posix_sitl_default with package
builds["sitl"] = {
node {
stage("Build Test sitl") {
docker.image(docker_ros).inside('-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE') {
stage("sitl") {
checkout scm
sh "export"
sh "make distclean"
sh "ccache -z"
sh "make posix_sitl_default"
sh "make posix_sitl_default sitl_gazebo"
sh "make posix_sitl_default package"
sh "ccache -s"
stash name: "px4_sitl_package", includes: "build/posix_sitl_default/*.bz2"
sh "make distclean"
}
}
}
}
}

// MAC OS posix_sitl_default
builds["sitl (OSX)"] = {
node("mac") {
Expand Down Expand Up @@ -283,21 +305,22 @@ pipeline {
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
}
}
options {
skipDefaultCheckout()
}
steps {
sh 'export'
sh 'make distclean; rm -rf .ros; rm -rf .gazebo'
sh 'git fetch --tags'
sh 'make posix_sitl_default'
sh 'make posix_sitl_default sitl_gazebo'
sh './test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_new_1 vehicle:=standard_vtol'
sh './Tools/ecl_ekf/process_logdata_ekf.py `find . -name *.ulg -print -quit`'
sh 'rm -rf .ros; rm -rf .gazebo'
unstash 'px4_sitl_package'
sh 'tar -xjpf build/posix_sitl_default/px4-posix_sitl_default*.bz2'
sh 'px4-posix_sitl_default*/px4/test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_new_1 vehicle:=standard_vtol'
sh 'px4-posix_sitl_default*/px4/Tools/ecl_ekf/process_logdata_ekf.py `find . -name *.ulg -print -quit`'
}
post {
always {
sh './Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
sh 'px4-posix_sitl_default*/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
archiveArtifacts '.ros/**/*.pdf'
archiveArtifacts '.ros/**/*.csv'
sh 'make distclean'
}
failure {
archiveArtifacts '.ros/**/*.ulg'
Expand All @@ -314,21 +337,22 @@ pipeline {
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
}
}
options {
skipDefaultCheckout()
}
steps {
sh 'export'
sh 'make distclean; rm -rf .ros; rm -rf .gazebo'
sh 'git fetch --tags'
sh 'make posix_sitl_default'
sh 'make posix_sitl_default sitl_gazebo'
sh './test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_new_1 vehicle:=tailsitter'
sh './Tools/ecl_ekf/process_logdata_ekf.py `find . -name *.ulg -print -quit`'
sh 'rm -rf .ros; rm -rf .gazebo'
unstash 'px4_sitl_package'
sh 'tar -xjpf build/posix_sitl_default/px4-posix_sitl_default*.bz2'
sh 'px4-posix_sitl_default*/px4/test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_new_1 vehicle:=tailsitter'
sh 'px4-posix_sitl_default*/px4/Tools/ecl_ekf/process_logdata_ekf.py `find . -name *.ulg -print -quit`'
}
post {
always {
sh './Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
sh 'px4-posix_sitl_default*/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
archiveArtifacts '.ros/**/*.pdf'
archiveArtifacts '.ros/**/*.csv'
sh 'make distclean'
}
failure {
archiveArtifacts '.ros/**/*.ulg'
Expand All @@ -345,21 +369,22 @@ pipeline {
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
}
}
options {
skipDefaultCheckout()
}
steps {
sh 'export'
sh 'make distclean; rm -rf .ros; rm -rf .gazebo'
sh 'git fetch --tags'
sh 'make posix_sitl_default'
sh 'make posix_sitl_default sitl_gazebo'
sh './test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_new_1 vehicle:=tiltrotor'
sh './Tools/ecl_ekf/process_logdata_ekf.py `find . -name *.ulg -print -quit`'
sh 'rm -rf .ros; rm -rf .gazebo'
unstash 'px4_sitl_package'
sh 'tar -xjpf build/posix_sitl_default/px4-posix_sitl_default*.bz2'
sh 'px4-posix_sitl_default*/px4/test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_new_1 vehicle:=tiltrotor'
sh 'px4-posix_sitl_default*/px4/Tools/ecl_ekf/process_logdata_ekf.py `find . -name *.ulg -print -quit`'
}
post {
always {
sh './Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
sh 'px4-posix_sitl_default*/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
archiveArtifacts '.ros/**/*.pdf'
archiveArtifacts '.ros/**/*.csv'
sh 'make distclean'
}
failure {
archiveArtifacts '.ros/**/*.ulg'
Expand All @@ -376,21 +401,22 @@ pipeline {
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
}
}
options {
skipDefaultCheckout()
}
steps {
sh 'export'
sh 'make distclean; rm -rf .ros; rm -rf .gazebo'
sh 'git fetch --tags'
sh 'make posix_sitl_default'
sh 'make posix_sitl_default sitl_gazebo'
sh './test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_new_2 vehicle:=standard_vtol'
sh './Tools/ecl_ekf/process_logdata_ekf.py `find . -name *.ulg -print -quit`'
sh 'rm -rf .ros; rm -rf .gazebo'
unstash 'px4_sitl_package'
sh 'tar -xjpf build/posix_sitl_default/px4-posix_sitl_default*.bz2'
sh 'px4-posix_sitl_default*/px4/test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_new_2 vehicle:=standard_vtol'
sh 'px4-posix_sitl_default*/px4/Tools/ecl_ekf/process_logdata_ekf.py `find . -name *.ulg -print -quit`'
}
post {
always {
sh './Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
sh 'px4-posix_sitl_default*/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
archiveArtifacts '.ros/**/*.pdf'
archiveArtifacts '.ros/**/*.csv'
sh 'make distclean'
}
failure {
archiveArtifacts '.ros/**/*.ulg'
Expand All @@ -407,21 +433,22 @@ pipeline {
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
}
}
options {
skipDefaultCheckout()
}
steps {
sh 'export'
sh 'make distclean; rm -rf .ros; rm -rf .gazebo'
sh 'git fetch --tags'
sh 'make posix_sitl_default'
sh 'make posix_sitl_default sitl_gazebo'
sh './test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_old_1 vehicle:=standard_vtol'
sh './Tools/ecl_ekf/process_logdata_ekf.py `find . -name *.ulg -print -quit`'
sh 'rm -rf .ros; rm -rf .gazebo'
unstash 'px4_sitl_package'
sh 'tar -xjpf build/posix_sitl_default/px4-posix_sitl_default*.bz2'
sh 'px4-posix_sitl_default*/px4/test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_old_1 vehicle:=standard_vtol'
sh 'px4-posix_sitl_default*/px4/Tools/ecl_ekf/process_logdata_ekf.py `find . -name *.ulg -print -quit`'
}
post {
always {
sh './Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
sh 'px4-posix_sitl_default*/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
archiveArtifacts '.ros/**/*.pdf'
archiveArtifacts '.ros/**/*.csv'
sh 'make distclean'
}
failure {
archiveArtifacts '.ros/**/*.ulg'
Expand All @@ -438,21 +465,22 @@ pipeline {
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
}
}
options {
skipDefaultCheckout()
}
steps {
sh 'export'
sh 'make distclean; rm -rf .ros; rm -rf .gazebo'
sh 'git fetch --tags'
sh 'make posix_sitl_default'
sh 'make posix_sitl_default sitl_gazebo'
sh './test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_old_2 vehicle:=standard_vtol'
sh './Tools/ecl_ekf/process_logdata_ekf.py `find . -name *.ulg -print -quit`'
sh 'rm -rf .ros; rm -rf .gazebo'
unstash 'px4_sitl_package'
sh 'tar -xjpf build/posix_sitl_default/px4-posix_sitl_default*.bz2'
sh 'px4-posix_sitl_default*/px4/test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_old_2 vehicle:=standard_vtol'
sh 'px4-posix_sitl_default*/px4/Tools/ecl_ekf/process_logdata_ekf.py `find . -name *.ulg -print -quit`'
}
post {
always {
sh './Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
sh 'px4-posix_sitl_default*/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
archiveArtifacts '.ros/**/*.pdf'
archiveArtifacts '.ros/**/*.csv'
sh 'make distclean'
}
failure {
archiveArtifacts '.ros/**/*.ulg'
Expand All @@ -469,21 +497,22 @@ pipeline {
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
}
}
options {
skipDefaultCheckout()
}
steps {
sh 'export'
sh 'make distclean; rm -rf .ros; rm -rf .gazebo'
sh 'git fetch --tags'
sh 'make posix_sitl_default'
sh 'make posix_sitl_default sitl_gazebo'
sh './test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=multirotor_box vehicle:=iris'
sh './Tools/ecl_ekf/process_logdata_ekf.py `find . -name *.ulg -print -quit`'
sh 'rm -rf .ros; rm -rf .gazebo'
unstash 'px4_sitl_package'
sh 'tar -xjpf build/posix_sitl_default/px4-posix_sitl_default*.bz2'
sh 'px4-posix_sitl_default*/px4/test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=multirotor_box vehicle:=iris'
sh 'px4-posix_sitl_default*/px4/Tools/ecl_ekf/process_logdata_ekf.py `find . -name *.ulg -print -quit`'
}
post {
always {
sh './Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
sh 'px4-posix_sitl_default*/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
archiveArtifacts '.ros/**/*.pdf'
archiveArtifacts '.ros/**/*.csv'
sh 'make distclean'
}
failure {
archiveArtifacts '.ros/**/*.ulg'
Expand All @@ -500,21 +529,22 @@ pipeline {
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
}
}
options {
skipDefaultCheckout()
}
steps {
sh 'export'
sh 'make distclean; rm -rf .ros; rm -rf .gazebo'
sh 'git fetch --tags'
sh 'make posix_sitl_default'
sh 'make posix_sitl_default sitl_gazebo'
sh './test/rostest_px4_run.sh mavros_posix_tests_offboard_attctl.test'
sh './Tools/ecl_ekf/process_logdata_ekf.py `find . -name *.ulg -print -quit`'
sh 'rm -rf .ros; rm -rf .gazebo'
unstash 'px4_sitl_package'
sh 'tar -xjpf build/posix_sitl_default/px4-posix_sitl_default*.bz2'
sh 'px4-posix_sitl_default*/px4/test/rostest_px4_run.sh mavros_posix_tests_offboard_attctl.test'
sh 'px4-posix_sitl_default*/px4/Tools/ecl_ekf/process_logdata_ekf.py `find . -name *.ulg -print -quit`'
}
post {
always {
sh './Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
sh 'px4-posix_sitl_default*/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
archiveArtifacts '.ros/**/*.pdf'
archiveArtifacts '.ros/**/*.csv'
sh 'make distclean'
}
failure {
archiveArtifacts '.ros/**/*.ulg'
Expand All @@ -533,19 +563,17 @@ pipeline {
}
steps {
sh 'export'
sh 'make distclean; rm -rf .ros; rm -rf .gazebo'
sh 'git fetch --tags'
sh 'make posix_sitl_default'
sh 'make posix_sitl_default sitl_gazebo'
sh './test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test'
sh './Tools/ecl_ekf/process_logdata_ekf.py `find . -name *.ulg -print -quit`'
sh 'rm -rf .ros; rm -rf .gazebo'
unstash 'px4_sitl_package'
sh 'tar -xjpf build/posix_sitl_default/px4-posix_sitl_default*.bz2'
sh 'px4-posix_sitl_default*/px4/test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test'
sh 'px4-posix_sitl_default*/px4/Tools/ecl_ekf/process_logdata_ekf.py `find . -name *.ulg -print -quit`'
}
post {
always {
sh './Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
sh 'px4-posix_sitl_default*/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
archiveArtifacts '.ros/**/*.pdf'
archiveArtifacts '.ros/**/*.csv'
sh 'make distclean'
}
failure {
archiveArtifacts '.ros/**/*.ulg'
Expand Down
15 changes: 6 additions & 9 deletions Tools/setup_gazebo.bash
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -7,22 +7,19 @@
#
# License: according to LICENSE.md in the root directory of the PX4 Firmware repository

if [ "$#" != 2 ]
then
echo usage: source setup_gazebo.bash src_dir build_dir
echo ""
if [ "$#" != 2 ]; then
echo -e "usage: source setup_gazebo.bash src_dir build_dir\n"
return 1
fi

SRC_DIR=$1
BUILD_DIR=$2

# setup Gazebo env and update package path
export GAZEBO_PLUGIN_PATH=${BUILD_DIR}/build_gazebo:${GAZEBO_PLUGIN_PATH}
export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:${SRC_DIR}/Tools/sitl_gazebo/models
# Disabling the remote model download seems only necessary with Gazebo 6
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Gazebo 6 isn't supported anymore.

#export GAZEBO_MODEL_DATABASE_URI=""
export LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:${SRC_DIR}/Tools/sitl_gazebo/Build/msgs/:${BUILD_DIR}/build_gazebo
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@lamping7 lamping7 May 2, 2018 •
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Build/msgs doesn't exist and msgs aren't needed to be in the path variable

export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:${BUILD_DIR}/build_gazebo
export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:${SRC_DIR}/Tools/sitl_gazebo/models
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:${BUILD_DIR}/build_gazebo

echo -e "GAZEBO_PLUGIN_PATH $GAZEBO_PLUGIN_PATH"
echo -e "GAZEBO_MODEL_PATH $GAZEBO_MODEL_PATH"
echo -e "LD_LIBRARY_PATH $LD_LIBRARY_PATH"
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