[WIP] Add SITL integration tests in CI

Jenkinsfile

@@ -13,7 +13,8 @@ pipeline {
             sh 'git submodule deinit -f .'
             sh 'git clean -ff -x -d .'
             sh 'git submodule update --init --recursive --force'
-            sh 'make BUILD_TYPE=Debug'
+            sh 'make BUILD_TYPE=Debug INSTALL_PREFIX=./install default install'
+            sh '(cd example/takeoff_land && mkdir build && cd build && cmake -DLOCAL_INSTALL:BOOL=ON .. && make)'
           }
         }
         stage('Ubuntu 16.04 Release') {

appveyor.yml

@@ -67,7 +67,7 @@ build_script:
   - cd example\takeoff_land
   - md build
   - cd build
-  - cmake ..  -G "Visual Studio 15 2017 Win64"
+  - cmake ..  -G "Visual Studio 15 2017 Win64" -DLOCAL_INSTALL:BOOL=ON
   - if "%configuration%"=="Debug" (
       cmake --build . --config Debug
     ) else (

docker/0002-forward-mavlink-in-docker.patch

@@ -0,0 +1,21 @@
+diff --git a/posix-configs/SITL/init/ekf2/iris b/posix-configs/SITL/init/ekf2/iris
+index 91ebb0b3b8..d5d7dad3ca 100644
+--- a/posix-configs/SITL/init/ekf2/iris
++++ b/posix-configs/SITL/init/ekf2/iris
+@@ -61,8 +61,8 @@ ekf2 start
+ mc_pos_control start
+ mc_att_control start
+ mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_w.main.mix
+-mavlink start -x -u 14556 -r 4000000
+-mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
++mavlink start -x -u 14556 -r 4000000 -t 172.17.0.1
++mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540 -t 172.17.0.1
+ mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
+ mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556
+ mavlink stream -r 50 -s GLOBAL_POSITION_INT -u 14556
+diff --git a/src/modules/uavcan/libuavcan b/src/modules/uavcan/libuavcan
+--- a/src/modules/uavcan/libuavcan
++++ b/src/modules/uavcan/libuavcan
+@@ -1 +1 @@
+-Subproject commit 231b221b64265db4e98f86e53721316f9e17e143
++Subproject commit 231b221b64265db4e98f86e53721316f9e17e143-dirty

docker/Dockerfile-SITL-Gazebo-integration-test

@@ -0,0 +1,37 @@
+FROM ubuntu:16.04
+
+ENV WORKSPACE_DIR /root
+ENV FIRMWARE_DIR ${WORKSPACE_DIR}/Firmware
+
+RUN apt-get update && \
+    apt-get install -y cmake \
+                       curl \
+                       git \
+                       libeigen3-dev \
+                       libopencv-dev \
+                       libroscpp-dev \
+                       protobuf-compiler \
+                       python-jinja2 \
+                       python-empy \
+                       python-toml \
+                       python-numpy \
+                       unzip
+
+RUN curl -ssL http://get.gazebosim.org | sh
+
+RUN git clone https://github.com/PX4/Firmware.git ${FIRMWARE_DIR}
+RUN git -C ${FIRMWARE_DIR} checkout v1.8.0
+RUN git -C ${FIRMWARE_DIR} submodule update --init --recursive
+
+COPY 0002-forward-mavlink-in-docker.patch ${FIRMWARE_DIR}
+RUN git -C ${FIRMWARE_DIR} apply ${FIRMWARE_DIR}/0002-forward-mavlink-in-docker.patch
+
+RUN ["/bin/bash", "-c", " \
+        cd ${FIRMWARE_DIR} && \
+        DONT_RUN=1 make posix gazebo_iris \
+"]
+
+ENTRYPOINT ["/bin/bash", "-c", " \
+    cd ${FIRMWARE_DIR} && \
+    HEADLESS=1 make posix gazebo_iris \
+"]

example/takeoff_land/CMakeLists.txt

@@ -2,16 +2,22 @@ cmake_minimum_required(VERSION 2.8.12)
 
 project(takeoff_and_land)
 
+add_definitions(-std=c++11)
+
 if(NOT MSVC)
-    add_definitions("-std=c++11 -Wall -Wextra -Werror")
-    # Line below required if /usr/local/include is not in your default includes
-    #include_directories(/usr/local/include)
-    # Line below required if /usr/local/lib is not in your default linker path
-    #link_directories(/usr/local/lib)
+    add_definitions(-Wall -Wextra -Werror)
 else()
-    add_definitions("-std=c++11 -WX -W2")
-    include_directories(${CMAKE_SOURCE_DIR}/../../install/include)
-    link_directories(${CMAKE_SOURCE_DIR}/../../install/lib)
+    add_definitions(-WX -W2)
+endif()
+
+# Line below required if /usr/local/include is not in your default includes
+#include_directories(/usr/local/include)
+# Line below required if /usr/local/lib is not in your default linker path
+#link_directories(/usr/local/lib)
+
+if (LOCAL_INSTALL)
+    include_directories(${CMAKE_SOURCE_DIR}/../../build/default/install/include)
+    link_directories(${CMAKE_SOURCE_DIR}/../../build/default/install/lib)
 endif()
 
 add_executable(takeoff_and_land