builder: add some tests for validating built image

.travis.yml

@@ -4,7 +4,7 @@ services:
   - docker
 env:
   global:
-    - DOCKER="sfalexrog/img-tool:builder-mod"
+    - DOCKER="okalachev/img-tool:latest"
     - TARGET_REPO="https://github.com/${TRAVIS_REPO_SLUG}.git"
     - if [[ -z ${TRAVIS_TAG} ]]; then IMAGE_VERSION="${TRAVIS_COMMIT}}"; else IMAGE_VERSION="${TRAVIS_TAG}"; fi
     - IMAGE_NAME="$(basename -s '.git' ${TARGET_REPO})_${IMAGE_VERSION}.img"

builder/image-build.sh

@@ -100,5 +100,6 @@ ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/roscore
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/kinetic-rosdep-clever.yaml' '/etc/ros/rosdep/'
 # ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/kinetic-ros-clever.rosinstall' '/home/pi/ros_catkin_ws/'
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-ros.sh' ${REPO_URL} ${IMAGE_VERSION} false false ${NUMBER_THREADS}
+${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-validate.sh'
 
 ${BUILDER_DIR}/image-resize.sh ${IMAGE_PATH}

builder/image-validate.sh

@@ -0,0 +1,22 @@
+#!/usr/bin/env bash
+
+#
+# Validate built image using tests
+#
+# Copyright (C) 2018 Copter Express Technologies
+#
+# Author: Oleg Kalachev <okalachev@gmail.com>
+#
+
+set -ex
+
+echo "Run image tests"
+
+export ROS_DISTRO='kinetic'
+export ROS_IP='127.0.0.1'
+source /opt/ros/kinetic/setup.bash
+source /home/pi/catkin_ws/devel/setup.bash
+
+cd /home/pi/catkin_ws/src/clever/builder/test/
+./tests.sh
+./tests.py

builder/test/tests.py

@@ -0,0 +1,27 @@
+#!/usr/bin/env python
+
+# validate all required modules installed
+
+import rospy
+from geometry_msgs.msg import PoseStamped
+
+#import cv2  # TODO - fix "NEON - NOT AVAILABLE" error
+#import cv2.aruco
+
+import numpy
+import mavros
+from mavros_msgs.msg import State, StatusText, ExtendedState
+from mavros_msgs.srv import CommandBool, CommandLong, SetMode
+
+from std_srvs.srv import Trigger
+from clever.srv import GetTelemetry, Navigate, NavigateGlobal, SetPosition, SetVelocity, \
+    SetAttitude, SetRates
+
+import tf2_ros
+import tf2_geometry_msgs
+
+import VL53L1X
+import pymavlink
+from pymavlink import mavutil
+import rpi_ws281x
+import pigpio

builder/test/tests.sh

@@ -0,0 +1,46 @@
+#!/usr/bin/env bash
+
+set -ex
+
+# TODO: validate versions
+
+# validate required software is installed
+
+python --version
+python2 --version
+python3 --version
+ipython --version
+ipython3 --version
+
+node -v
+npm -v
+
+byobu --version
+nmap --version
+lsof -v
+git --version
+vim --version
+pip --version
+pip2 --version
+pip3 --version
+tcpdump --version
+monkey --version
+pigpiod -v
+i2cdetect -V
+butterfly -h
+
+# ros stuff
+
+roscore -h
+rosversion clever
+rosversion aruco_pose
+rosversion vl53l1x
+#rosversion opencv3  # TODO
+rosversion mavros
+rosversion mavros_extras
+rosversion dynamic_reconfigure
+rosversion tf2_web_republisher
+rosversion compressed_image_transport
+rosversion rosbridge_suite
+rosversion rosserial
+rosversion usb_cam