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Added @slremy's changes to add a Pose subscriber. Then I:
* changed the topic name from 'pose' to 'cmd_pose', for parallelism with 'cmd_vel' (yes, that should probably be 'cmd_twist' instead, but we're not changing that now) * added tests for the effects of publishing to cmd_vel and cmd_pose
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| #!/usr/bin/env python | ||
| # Software License Agreement (BSD License) | ||
| # | ||
| # Copyright (c) 2015, Open Source Robotics Foundation, Inc. | ||
| # All rights reserved. | ||
| # | ||
| # Redistribution and use in source and binary forms, with or without | ||
| # modification, are permitted provided that the following conditions | ||
| # are met: | ||
| # | ||
| # * Redistributions of source code must retain the above copyright | ||
| # notice, this list of conditions and the following disclaimer. | ||
| # * Redistributions in binary form must reproduce the above | ||
| # copyright notice, this list of conditions and the following | ||
| # disclaimer in the documentation and/or other materials provided | ||
| # with the distribution. | ||
| # * Neither the name of Willow Garage, Inc. nor the names of its | ||
| # contributors may be used to endorse or promote products derived | ||
| # from this software without specific prior written permission. | ||
| # | ||
| # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
| # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
| # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
| # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
| # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
| # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
| # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| # POSSIBILITY OF SUCH DAMAGE. | ||
| # | ||
| # Author: Brian Gerkey | ||
|
|
||
| import sys | ||
| import threading | ||
| import time | ||
| import unittest | ||
|
|
||
| from geometry_msgs.msg import Pose, Twist | ||
| from nav_msgs.msg import Odometry | ||
| import rospy | ||
| import rostest | ||
| import tf.transformations | ||
|
|
||
| class TestStageRos(unittest.TestCase): | ||
|
|
||
| def __init__(self, *args): | ||
| unittest.TestCase.__init__(self, *args) | ||
| rospy.init_node('pose_tester', anonymous=True) | ||
|
|
||
| def _base_pose_ground_truth_sub(self, msg): | ||
| self.base_pose_ground_truth = msg | ||
|
|
||
| def _odom_sub(self, msg): | ||
| self.odom = msg | ||
|
|
||
| def setUp(self): | ||
| self.odom = None | ||
| self.base_pose_ground_truth = None | ||
| self.done = False | ||
| self.odom_sub = rospy.Subscriber('odom', Odometry, self._odom_sub) | ||
| self.base_pose_ground_truth_sub = rospy.Subscriber( | ||
| 'base_pose_ground_truth', Odometry, self._base_pose_ground_truth_sub) | ||
| # Make sure we get base_pose_ground_truth | ||
| while self.base_pose_ground_truth is None: | ||
| time.sleep(0.1) | ||
| # Make sure we get odom and the robot is stopped (not still moving | ||
| # from the previous test). We can count on stage to return true zeros. | ||
| while (self.odom is None or | ||
| self.odom.twist.twist.linear.x != 0.0 or | ||
| self.odom.twist.twist.linear.y != 0.0 or | ||
| self.odom.twist.twist.linear.z != 0.0 or | ||
| self.odom.twist.twist.angular.x != 0.0 or | ||
| self.odom.twist.twist.angular.y != 0.0 or | ||
| self.odom.twist.twist.angular.z != 0.0): | ||
| time.sleep(0.1) | ||
|
|
||
| def _pub_thread(self, pub, msg): | ||
| while not self.done: | ||
| pub.publish(msg) | ||
| time.sleep(0.05) | ||
|
|
||
| # Test that, if we command the robot to drive forward for a while, that it does | ||
| # so. | ||
| def test_cmdvel_x(self): | ||
| odom0 = self.odom | ||
| pub = rospy.Publisher('cmd_vel', Twist, queue_size=1) | ||
| twist = Twist() | ||
| twist.linear.x = 1.0 | ||
| # Make a thread to repeatedly publish (to overcome Stage's watchdog) | ||
| t = threading.Thread(target=self._pub_thread, args=[pub, twist]) | ||
| t.start() | ||
| time.sleep(3.0) | ||
| odom1 = self.odom | ||
| self.done = True | ||
| t.join() | ||
| # Now we expect the robot's odometric pose to differ in X but nothing | ||
| # else | ||
| self.assertGreater(odom1.header.stamp, odom0.header.stamp) | ||
| self.assertNotAlmostEqual(odom1.pose.pose.position.x, odom0.pose.pose.position.x) | ||
| self.assertAlmostEqual(odom1.pose.pose.position.y, odom0.pose.pose.position.y) | ||
| self.assertAlmostEqual(odom1.pose.pose.position.z, odom0.pose.pose.position.z) | ||
| self.assertAlmostEqual(odom1.pose.pose.orientation.x, odom0.pose.pose.orientation.x) | ||
| self.assertAlmostEqual(odom1.pose.pose.orientation.y, odom0.pose.pose.orientation.y) | ||
| self.assertAlmostEqual(odom1.pose.pose.orientation.z, odom0.pose.pose.orientation.z) | ||
| self.assertAlmostEqual(odom1.pose.pose.orientation.w, odom0.pose.pose.orientation.w) | ||
|
|
||
| # Test that, if we command the robot to turn in place for a while, that it does | ||
| # so. | ||
| def test_cmdvel_yaw(self): | ||
| odom0 = self.odom | ||
| pub = rospy.Publisher('cmd_vel', Twist, queue_size=1) | ||
| twist = Twist() | ||
| twist.angular.z = 0.25 | ||
| # Make a thread to repeatedly publish (to overcome Stage's watchdog) | ||
| t = threading.Thread(target=self._pub_thread, args=[pub, twist]) | ||
| t.start() | ||
| time.sleep(3.0) | ||
| odom1 = self.odom | ||
| self.done = True | ||
| t.join() | ||
| # Now we expect the robot's odometric pose to differ in yaw (which will | ||
| # appear in the quaternion elements z and w) and not elsewhere | ||
| self.assertGreater(odom1.header.stamp, odom0.header.stamp) | ||
| self.assertAlmostEqual(odom1.pose.pose.position.x, odom0.pose.pose.position.x) | ||
| self.assertAlmostEqual(odom1.pose.pose.position.y, odom0.pose.pose.position.y) | ||
| self.assertAlmostEqual(odom1.pose.pose.position.z, odom0.pose.pose.position.z) | ||
| self.assertAlmostEqual(odom1.pose.pose.orientation.x, odom0.pose.pose.orientation.x) | ||
| self.assertAlmostEqual(odom1.pose.pose.orientation.y, odom0.pose.pose.orientation.y) | ||
| self.assertNotAlmostEqual(odom1.pose.pose.orientation.z, odom0.pose.pose.orientation.z) | ||
| self.assertNotAlmostEqual(odom1.pose.pose.orientation.w, odom0.pose.pose.orientation.w) | ||
|
|
||
| # Test that, if we command the robot to jump to a pose, it does so. | ||
| def test_pose(self): | ||
| pub = rospy.Publisher('cmd_pose', Pose, queue_size=1) | ||
| while pub.get_num_connections() == 0: | ||
| time.sleep(0.1) | ||
| pose = Pose() | ||
| pose.position.x = 42.0 | ||
| pose.position.y = -42.0 | ||
| pose.position.z = 142.0 | ||
| roll = 0.2 | ||
| pitch = -0.3 | ||
| yaw = 0.9 | ||
| q = tf.transformations.quaternion_from_euler(roll, pitch, yaw) | ||
| pose.orientation.x = q[0] | ||
| pose.orientation.y = q[1] | ||
| pose.orientation.z = q[2] | ||
| pose.orientation.w = q[3] | ||
| pub.publish(pose) | ||
| time.sleep(3.0) | ||
| # Now we expect the robot's ground truth pose to be what we told, except | ||
| # for z, roll, and pitch, which should all be zero (Stage is 2-D, after all). | ||
| bpgt = self.base_pose_ground_truth | ||
| self.assertAlmostEqual(bpgt.pose.pose.position.x, pose.position.x) | ||
| self.assertAlmostEqual(bpgt.pose.pose.position.y, pose.position.y) | ||
| self.assertEqual(bpgt.pose.pose.position.z, 0.0) | ||
| q = [bpgt.pose.pose.orientation.x, | ||
| bpgt.pose.pose.orientation.y, | ||
| bpgt.pose.pose.orientation.z, | ||
| bpgt.pose.pose.orientation.w] | ||
| e = tf.transformations.euler_from_quaternion(q) | ||
| self.assertEqual(e[0], 0.0) | ||
| self.assertEqual(e[1], 0.0) | ||
| self.assertAlmostEqual(e[2], yaw) | ||
|
|
||
| NAME = 'stage_ros' | ||
| if __name__ == '__main__': | ||
| rostest.unitrun('stage_ros', NAME, TestStageRos, sys.argv) |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,4 @@ | ||
| <launch> | ||
| <node pkg="stage_ros" name="stageros" type="stageros" args="-g $(find stage_ros)/world/willow-erratic.world"/> | ||
| <test test-name="cmdpose_tests" pkg="stage_ros" type="cmdpose_tests.py" name="cmdpose_tests"/> | ||
| </launch> |