test_base_odomx_gt.py
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00001 #!/usr/bin/env python
00002 # Software License Agreement (BSD License)
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00004 # Copyright (c) 2008, Willow Garage, Inc.
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00034 
00035 ## Gazebo test base controller vw
00036 
00037 PKG = 'pr2_gazebo'
00038 NAME = 'test_base_odomx_gt'
00039 
00040 import math
00041 import roslib
00042 roslib.load_manifest(PKG)
00043 
00044 import sys, unittest
00045 import os, time
00046 import rospy, rostest
00047 
00048 from geometry_msgs.msg import Twist,Vector3
00049 from nav_msgs.msg import Odometry
00050 
00051 TEST_DURATION   = 10.0
00052 
00053 TARGET_VX       =  0.5
00054 TARGET_VY       =  0.0
00055 TARGET_VW       =  0.0
00056 TARGET_DURATION = 2.0
00057 TARGET_TOL      = 0.2
00058 
00059 from test_base import BaseTest, E, Q
00060 class X_GT(BaseTest):
00061     def __init__(self, *args):
00062         super(X_GT, self).__init__(*args)
00063 
00064     def test_base(self):
00065         self.init_ros(NAME)
00066         timeout_t = time.time() + TEST_DURATION
00067         while not rospy.is_shutdown() and not self.success and time.time() < timeout_t:
00068             #do not start commanding base until p3d and odom are initialized
00069             if self.p3d_initialized == True and self.odom_initialized == True:
00070               self.pub.publish(Twist(Vector3(TARGET_VX,TARGET_VY, 0), Vector3(0,0,TARGET_VW)))
00071             time.sleep(0.1)
00072             #self.debug_pos()
00073             # display what the odom error is
00074             print " error   " + " x: " + str(self.odom_x - self.p3d_x) + " y: " + str(self.odom_y - self.p3d_y) + " t: " + str(self.odom_t - self.p3d_t)
00075 
00076         # check total error
00077         total_error = abs(self.odom_x - self.p3d_x) + abs(self.odom_y - self.p3d_y) + abs(self.odom_t - self.p3d_t)
00078         if total_error < TARGET_TOL:
00079             self.success = True
00080 
00081         self.assert_(self.success)
00082         
00083 if __name__ == '__main__':
00084     rostest.run(PKG, sys.argv[0], X_GT, sys.argv) #, text_mode=True)
00085 
00086 


pr2_gazebo
Author(s): John Hsu
autogenerated on Thu Jan 2 2014 11:45:25