ci(mavros): merge mission+offboard into one workflow, migrate to noetic and Python 3

.github/workflows/ekf_update_change_indicator.yml

@@ -17,7 +17,7 @@ jobs:
       GIT_COMMITTER_NAME: PX4BuildBot
 
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
         with:
           fetch-depth: 0
 
@@ -39,7 +39,7 @@ jobs:
 
       - name: auto-commit any changes to change indication
         if: steps.diff-check.outputs.CHANGE_INDICATED == 'true'
-        uses: stefanzweifel/git-auto-commit-action@v4
+        uses: stefanzweifel/git-auto-commit-action@v7
         with:
           file_pattern: 'src/modules/ekf2/test/change_indication/*.csv'
           commit_user_name: ${{ env.GIT_COMMITTER_NAME }}

.github/workflows/mavros_tests.yml

@@ -0,0 +1,75 @@
+name: MAVROS Tests
+
+on:
+  push:
+    branches:
+    - 'main'
+    paths-ignore:
+      - 'docs/**'
+  pull_request:
+    branches:
+      - '**'
+    paths-ignore:
+      - 'docs/**'
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  test:
+    name: "MAVROS ${{ matrix.config.name }}"
+    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
+    permissions:
+      contents: read
+    container:
+      image: px4io/px4-dev-ros-noetic:2021-09-08
+    env:
+      PX4_SBOM_DISABLE: 1
+    strategy:
+      fail-fast: false
+      matrix:
+        config:
+          - {name: "Mission", test_file: "mavros_posix_test_mission.test", params: "mission:=MC_mission_box vehicle:=iris"}
+          - {name: "Offboard", test_file: "mavros_posix_tests_offboard_posctl.test", params: "vehicle:=iris"}
+    steps:
+      - uses: runs-on/action@v2
+
+      - uses: actions/checkout@v6
+        with:
+          fetch-depth: 1
+
+      - name: Setup - Configure Git Safe Directory
+        run: git config --system --add safe.directory '*'
+
+      - name: Setup - Install Python Test Dependencies
+        run: pip3 install -r Tools/setup/requirements.txt
+
+      - uses: ./.github/actions/setup-ccache
+        id: ccache
+        with:
+          cache-key-prefix: ccache-sitl-gazebo-classic
+          max-size: 350M
+
+      - uses: ./.github/actions/build-gazebo-sitl
+
+      - name: Test - MAVROS ${{ matrix.config.name }}
+        run: |
+          ./test/rostest_px4_run.sh \
+            ${{ matrix.config.test_file }} \
+            ${{ matrix.config.params }}
+        timeout-minutes: 10
+
+      - uses: ./.github/actions/save-ccache
+        if: always()
+        with:
+          cache-primary-key: ${{ steps.ccache.outputs.cache-primary-key }}
+
+      - name: Upload - Failed Test Logs
+        if: failure()
+        uses: actions/upload-artifact@v7
+        with:
+          name: failed-mavros-${{ matrix.config.name }}-logs.zip
+          path: |
+            logs/**/**/**/*.log
+            logs/**/**/**/*.ulg

integrationtests/python_src/px4_it/mavros/mavros_offboard_attctl_test.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python2
+#!/usr/bin/env python3
 #***************************************************************************
 #
 #   Copyright (c) 2015 PX4 Development Team. All rights reserved.
@@ -35,9 +35,6 @@
 #
 # @author Andreas Antener <andreas@uaventure.com>
 #
-# The shebang of this file is currently Python2 because some
-# dependencies such as pymavlink don't play well with Python3 yet.
-from __future__ import division
 
 PKG = 'px4'
 
@@ -46,7 +43,6 @@
 from mavros_msgs.msg import AttitudeTarget
 from mavros_test_common import MavrosTestCommon
 from pymavlink import mavutil
-from six.moves import xrange
 from std_msgs.msg import Header
 from threading import Thread
 from tf.transformations import quaternion_from_euler
@@ -124,7 +120,7 @@ def test_attctl(self):
         loop_freq = 2  # Hz
         rate = rospy.Rate(loop_freq)
         crossed = False
-        for i in xrange(timeout * loop_freq):
+        for i in range(timeout * loop_freq):
             if (self.local_position.pose.position.x > boundary_x and
                     self.local_position.pose.position.y > boundary_y and
                     self.local_position.pose.position.z > boundary_z):

integrationtests/python_src/px4_it/mavros/mavros_offboard_posctl_test.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python2
+#!/usr/bin/env python3
 #***************************************************************************
 #
 #   Copyright (c) 2015 PX4 Development Team. All rights reserved.
@@ -35,9 +35,6 @@
 #
 # @author Andreas Antener <andreas@uaventure.com>
 #
-# The shebang of this file is currently Python2 because some
-# dependencies such as pymavlink don't play well with Python3 yet.
-from __future__ import division
 
 PKG = 'px4'
 
@@ -48,7 +45,6 @@
 from mavros_msgs.msg import ParamValue
 from mavros_test_common import MavrosTestCommon
 from pymavlink import mavutil
-from six.moves import xrange
 from std_msgs.msg import Header
 from threading import Thread
 from tf.transformations import quaternion_from_euler
@@ -132,7 +128,7 @@ def reach_position(self, x, y, z, timeout):
         loop_freq = 2  # Hz
         rate = rospy.Rate(loop_freq)
         reached = False
-        for i in xrange(timeout * loop_freq):
+        for i in range(timeout * loop_freq):
             if self.is_at_position(self.pos.pose.position.x,
                                    self.pos.pose.position.y,
                                    self.pos.pose.position.z, self.radius):
@@ -174,7 +170,7 @@ def test_posctl(self):
         positions = ((0, 0, 0), (50, 50, 20), (50, -50, 20), (-50, -50, 20),
                      (0, 0, 20))
 
-        for i in xrange(len(positions)):
+        for i in range(len(positions)):
             self.reach_position(positions[i][0], positions[i][1],
                                 positions[i][2], 30)
 

integrationtests/python_src/px4_it/mavros/mavros_offboard_yawrate_test.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python2
+#!/usr/bin/env python3
 #***************************************************************************
 #
 #   Copyright (c) 2020 PX4 Development Team. All rights reserved.
@@ -35,16 +35,13 @@
 # @author Pedro Roque <padr@kth.se>
 #
 
-from __future__ import division
-
 PKG = 'px4'
 
 import rospy
 from geometry_msgs.msg import Quaternion, Vector3
 from mavros_msgs.msg import AttitudeTarget
 from mavros_test_common import MavrosTestCommon
 from pymavlink import mavutil
-from six.moves import xrange
 from std_msgs.msg import Header
 from threading import Thread
 from tf.transformations import quaternion_from_euler
@@ -134,7 +131,7 @@ def test_attctl(self):
         loop_freq = 2  # Hz
         rate = rospy.Rate(loop_freq)
         crossed = False
-        for i in xrange(timeout * loop_freq):
+        for i in range(timeout * loop_freq):
             if (self.local_position.pose.position.x < boundary_x and
 	    	    self.local_position.pose.position.x > -boundary_x and
                     self.local_position.pose.position.y < boundary_y and

integrationtests/python_src/px4_it/mavros/mavros_test_common.py

@@ -1,5 +1,4 @@
-#!/usr/bin/env python2
-from __future__ import division
+#!/usr/bin/env python3
 
 import unittest
 import rospy
@@ -11,7 +10,6 @@
                             WaypointPush
 from pymavlink import mavutil
 from sensor_msgs.msg import NavSatFix, Imu
-from six.moves import xrange
 
 
 class MavrosTestCommon(unittest.TestCase):
@@ -183,7 +181,7 @@ def set_arm(self, arm, timeout):
         loop_freq = 1  # Hz
         rate = rospy.Rate(loop_freq)
         arm_set = False
-        for i in xrange(timeout * loop_freq):
+        for i in range(timeout * loop_freq):
             if self.state.armed == arm:
                 arm_set = True
                 rospy.loginfo("set arm success | seconds: {0} of {1}".format(
@@ -213,7 +211,7 @@ def set_mode(self, mode, timeout):
         loop_freq = 1  # Hz
         rate = rospy.Rate(loop_freq)
         mode_set = False
-        for i in xrange(timeout * loop_freq):
+        for i in range(timeout * loop_freq):
             if self.state.mode == mode:
                 mode_set = True
                 rospy.loginfo("set mode success | seconds: {0} of {1}".format(
@@ -247,7 +245,7 @@ def set_param(self, param_id, param_value, timeout):
         loop_freq = 1  # Hz
         rate = rospy.Rate(loop_freq)
         param_set = False
-        for i in xrange(timeout * loop_freq):
+        for i in range(timeout * loop_freq):
             try:
                 res = self.set_param_srv(param_id, param_value)
                 if res.success:
@@ -274,7 +272,7 @@ def wait_for_topics(self, timeout):
         loop_freq = 1  # Hz
         rate = rospy.Rate(loop_freq)
         simulation_ready = False
-        for i in xrange(timeout * loop_freq):
+        for i in range(timeout * loop_freq):
             if all(value for value in self.sub_topics_ready.values()):
                 simulation_ready = True
                 rospy.loginfo("simulation topics ready | seconds: {0} of {1}".
@@ -297,7 +295,7 @@ def wait_for_landed_state(self, desired_landed_state, timeout, index):
         loop_freq = 10  # Hz
         rate = rospy.Rate(loop_freq)
         landed_state_confirmed = False
-        for i in xrange(timeout * loop_freq):
+        for i in range(timeout * loop_freq):
             if self.extended_state.landed_state == desired_landed_state:
                 landed_state_confirmed = True
                 rospy.loginfo("landed state confirmed | seconds: {0} of {1}".
@@ -325,7 +323,7 @@ def wait_for_vtol_state(self, transition, timeout, index):
         loop_freq = 10  # Hz
         rate = rospy.Rate(loop_freq)
         transitioned = False
-        for i in xrange(timeout * loop_freq):
+        for i in range(timeout * loop_freq):
             if transition == self.extended_state.vtol_state:
                 rospy.loginfo("transitioned | seconds: {0} of {1}".format(
                     i / loop_freq, timeout))
@@ -348,7 +346,7 @@ def clear_wps(self, timeout):
         loop_freq = 1  # Hz
         rate = rospy.Rate(loop_freq)
         wps_cleared = False
-        for i in xrange(timeout * loop_freq):
+        for i in range(timeout * loop_freq):
             if not self.mission_wp.waypoints:
                 wps_cleared = True
                 rospy.loginfo("clear waypoints success | seconds: {0} of {1}".
@@ -381,7 +379,7 @@ def send_wps(self, waypoints, timeout):
         rate = rospy.Rate(loop_freq)
         wps_sent = False
         wps_verified = False
-        for i in xrange(timeout * loop_freq):
+        for i in range(timeout * loop_freq):
             if not wps_sent:
                 try:
                     res = self.wp_push_srv(start_index=0, waypoints=waypoints)
@@ -417,7 +415,7 @@ def wait_for_mav_type(self, timeout):
         loop_freq = 1  # Hz
         rate = rospy.Rate(loop_freq)
         res = False
-        for i in xrange(timeout * loop_freq):
+        for i in range(timeout * loop_freq):
             try:
                 res = self.get_param_srv('MAV_TYPE')
                 if res.success: