test_base_odomy_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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00013 #  * Redistributions in binary form must reproduce the above
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00034 
00035 ## Gazebo test base controller vw
00036 
00037 PKG = 'pr2_gazebo'
00038 NAME = 'test_base_odomy_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 from geometry_msgs.msg import Twist,Vector3
00048 from nav_msgs.msg import Odometry
00049 
00050 TEST_DURATION   = 10.0
00051 
00052 TARGET_VX       =  0.0
00053 TARGET_VY       =  0.5
00054 TARGET_VW       =  0.0
00055 TARGET_DURATION = 2.0
00056 TARGET_TOL      = 0.1
00057 
00058 from test_base import BaseTest, Q, E
00059 class Y_GT(BaseTest):
00060     def __init__(self, *args):
00061         super(Y_GT, self).__init__(*args)
00062 
00063     def test_base(self):
00064         self.init_ros(NAME)
00065         timeout_t = time.time() + TEST_DURATION
00066         while not rospy.is_shutdown() and not self.success and time.time() < timeout_t:
00067             #do not start commanding base until p3d and odom are initialized
00068             if self.p3d_initialized == True and self.odom_initialized == True:
00069               self.pub.publish(Twist(Vector3(TARGET_VX,TARGET_VY, 0), Vector3(0,0,TARGET_VW)))
00070             time.sleep(0.1)
00071             # self.debug_pos()
00072             # display what the odom error is
00073             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)
00074 
00075         # check total error
00076         total_error = abs(self.odom_x - self.p3d_x) + abs(self.odom_y - self.p3d_y) + abs(self.odom_t - self.p3d_t)
00077         total_dist  = math.sqrt(self.p3d_x*self.p3d_x + self.p3d_y*self.p3d_y + self.p3d_t*self.p3d_t)
00078         if total_error/total_dist  < TARGET_TOL:
00079             self.success = True
00080 
00081         if not self.success:
00082           rospy.logerr("Testing pr2 base odometry control against simulated ground truth with target (vx,vy) = (0.5,0.5), but odom data does not match gound truth from simulation.  Total deviation in position is %f percent over a distance of %f meters."%(total_error/total_dist, total_dist));
00083         else:
00084           rospy.loginfo("Testing pr2 base odometry control against simulated ground truth with target (vx,vy) = (0.5,0.5), total deviation in position is %f percent over a distance of %f meters."%(total_error/total_dist, total_dist));
00085 
00086         self.assert_(self.success)
00087         
00088 if __name__ == '__main__':
00089     rostest.run(PKG, sys.argv[0], Y_GT, sys.argv) #, text_mode=True)
00090 
00091 


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