TEST_F(DiffDriveControllerTest, testLinearVelocityLimits)
{
// wait for ROS
while(!isControllerAlive())
{
ros::Duration(0.1).sleep();
}
// zero everything before test
geometry_msgs::Twist cmd_vel;
cmd_vel.linear.x = 0.0;
cmd_vel.angular.z = 0.0;
publish(cmd_vel);
ros::Duration(2.0).sleep();
// get initial odom
nav_msgs::Odometry old_odom = getLastOdom();
// send a big command
cmd_vel.linear.x = 10.0;
publish(cmd_vel);
// wait for a while
ros::Duration(5.0).sleep();
nav_msgs::Odometry new_odom = getLastOdom();
// check if the robot speed is now 1.0 m.s-1, the limit
EXPECT_LT(fabs(new_odom.twist.twist.linear.x - old_odom.twist.twist.linear.x), 1.0 + VELOCITY_TOLERANCE);
EXPECT_LT(fabs(new_odom.twist.twist.angular.z - old_odom.twist.twist.angular.z), EPS);
cmd_vel.linear.x = 0.0;
publish(cmd_vel);
}
// TEST CASES
TEST_F(FourWheelSteeringControllerTest, testForward)
{
// wait for ROS
waitForController();
// zero everything before test
geometry_msgs::Twist cmd_vel;
cmd_vel.linear.x = 0.0;
cmd_vel.angular.z = 0.0;
publish(cmd_vel);
ros::Duration(0.1).sleep();
// get initial odom
nav_msgs::Odometry old_odom = getLastOdom();
// send a velocity command of 0.1 m/s
cmd_vel.linear.x = 0.1;
publish(cmd_vel);
// wait for 10s
ros::Duration(10.0).sleep();
nav_msgs::Odometry new_odom = getLastOdom();
const ros::Duration actual_elapsed_time = new_odom.header.stamp - old_odom.header.stamp;
const double expected_distance = cmd_vel.linear.x * actual_elapsed_time.toSec();
// check if the robot traveled 1 meter in XY plane, changes in z should be ~~0
const double dx = new_odom.pose.pose.position.x - old_odom.pose.pose.position.x;
const double dy = new_odom.pose.pose.position.y - old_odom.pose.pose.position.y;
const double dz = new_odom.pose.pose.position.z - old_odom.pose.pose.position.z;
EXPECT_NEAR(sqrt(dx*dx + dy*dy), expected_distance, POSITION_TOLERANCE);
EXPECT_LT(fabs(dz), EPS);
// convert to rpy and test that way
double roll_old, pitch_old, yaw_old;
double roll_new, pitch_new, yaw_new;
tf::Matrix3x3(tfQuatFromGeomQuat(old_odom.pose.pose.orientation)).getRPY(roll_old, pitch_old, yaw_old);
tf::Matrix3x3(tfQuatFromGeomQuat(new_odom.pose.pose.orientation)).getRPY(roll_new, pitch_new, yaw_new);
EXPECT_LT(fabs(roll_new - roll_old), EPS);
EXPECT_LT(fabs(pitch_new - pitch_old), EPS);
EXPECT_LT(fabs(yaw_new - yaw_old), EPS);
EXPECT_NEAR(fabs(new_odom.twist.twist.linear.x), cmd_vel.linear.x, EPS);
EXPECT_LT(fabs(new_odom.twist.twist.linear.y), EPS);
EXPECT_LT(fabs(new_odom.twist.twist.linear.z), EPS);
EXPECT_LT(fabs(new_odom.twist.twist.angular.x), EPS);
EXPECT_LT(fabs(new_odom.twist.twist.angular.y), EPS);
EXPECT_LT(fabs(new_odom.twist.twist.angular.z), EPS);
}
TEST_F(FourWheelSteeringControllerTest, testTurn)
{
// wait for ROS
waitForController();
// zero everything before test
geometry_msgs::Twist cmd_vel;
cmd_vel.linear.x = 0.0;
cmd_vel.angular.z = 0.0;
publish(cmd_vel);
ros::Duration(0.1).sleep();
// get initial odom
nav_msgs::Odometry old_odom = getLastOdom();
// send a velocity command
cmd_vel.linear.x = M_PI/2.0;
cmd_vel.angular.z = M_PI/10.0;
publish(cmd_vel);
// wait for 10s to make a half turn
ros::Duration(10.0).sleep();
nav_msgs::Odometry new_odom = getLastOdom();
// check if the robot traveled 20 meter in XY plane, changes in z should be ~~0
const double dx = new_odom.pose.pose.position.x - old_odom.pose.pose.position.x;
const double dy = new_odom.pose.pose.position.y - old_odom.pose.pose.position.y;
const double dz = new_odom.pose.pose.position.z - old_odom.pose.pose.position.z;
EXPECT_NEAR(sqrt(dx*dx + dy*dy), 2*cmd_vel.linear.x/cmd_vel.angular.z, POSITION_TOLERANCE);
EXPECT_LT(fabs(dz), EPS);
// convert to rpy and test that way
double roll_old, pitch_old, yaw_old;
double roll_new, pitch_new, yaw_new;
tf::Matrix3x3(tfQuatFromGeomQuat(old_odom.pose.pose.orientation)).getRPY(roll_old, pitch_old, yaw_old);
tf::Matrix3x3(tfQuatFromGeomQuat(new_odom.pose.pose.orientation)).getRPY(roll_new, pitch_new, yaw_new);
EXPECT_LT(fabs(roll_new - roll_old), EPS);
EXPECT_LT(fabs(pitch_new - pitch_old), EPS);
EXPECT_NEAR(fabs(yaw_new - yaw_old), M_PI, ORIENTATION_TOLERANCE);
EXPECT_NEAR(fabs(new_odom.twist.twist.linear.x), cmd_vel.linear.x, EPS);
EXPECT_LT(fabs(new_odom.twist.twist.linear.y), EPS);
EXPECT_LT(fabs(new_odom.twist.twist.linear.z), EPS);
EXPECT_LT(fabs(new_odom.twist.twist.angular.x), EPS);
EXPECT_LT(fabs(new_odom.twist.twist.angular.y), EPS);
EXPECT_NEAR(fabs(new_odom.twist.twist.angular.z), cmd_vel.angular.z, EPS);
}
TEST_F(DiffDriveControllerTest, testOdomTopic)
{
// wait for ROS
while(!isControllerAlive())
{
ros::Duration(0.1).sleep();
}
// get an odom message
nav_msgs::Odometry odom_msg = getLastOdom();
// check its frame_id
ASSERT_STREQ(odom_msg.header.frame_id.c_str(), "new_odom");
}
