test_robot_pose_ekf_gps.cpp

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/* Author: Wim Meeussen 
   Prasenjit Mukherjee (Clearpath Robotics)
*/

#include <string>
#include <gtest/gtest.h>
#include "ros/ros.h"
#include "nav_msgs/Odometry.h"
#include "geometry_msgs/PoseWithCovarianceStamped.h"

#include <boost/thread.hpp>

using namespace ros;
static const double time_end     = 1368022016.0;
static const double ekf_duration = 40;
static const double EPS_trans_x    = 0.1;
static const double EPS_trans_y    = 0.1;
static const double EPS_trans_z    = 0.00001;
static const double EPS_rot_x      = 0.005;
static const double EPS_rot_y      = 0.005;
static const double EPS_rot_z      = 0.005;
static const double EPS_rot_w      = 0.005;

int g_argc;
char** g_argv;

typedef boost::shared_ptr<nav_msgs::Odometry const> OdomConstPtr;
typedef boost::shared_ptr<geometry_msgs::PoseWithCovarianceStamped const> EkfConstPtr;


class TestEKF : public testing::Test
{
public:
  NodeHandle node_;
  ros::Subscriber odom_sub_, ekf_sub_;
  EkfConstPtr ekf_begin_, ekf_end_;
  OdomConstPtr odom_end_;
  double ekf_counter_, odom_counter_;
  Time ekf_time_begin_, odom_time_begin_;

  void OdomCallback(const OdomConstPtr& odom)
  {
    // get initial time
    if (odom_counter_ == 0)
      odom_time_begin_ = odom->header.stamp;

    odom_end_ = odom;

    // count number of callbacks
    odom_counter_++;
  }

  void EKFCallback(const EkfConstPtr& ekf)
  {
    // get initial time
    if (ekf_counter_ == 0){
      ekf_time_begin_ = ekf->header.stamp;
      ekf_begin_ = ekf;
    }
    if (ekf->header.stamp.toSec() < time_end)
      ekf_end_ = ekf;

    // count number of callbacks
    ekf_counter_++;
  }


protected:
  TestEKF()
  {
    ekf_counter_ = 0;
    odom_counter_ = 0;

  }


  ~TestEKF()
  {
  }

  void SetUp()
  {
    ROS_INFO("Subscribing to robot_pose_ekf/odom_combined");
    ekf_sub_ = node_.subscribe("/robot_pose_ekf/odom_combined", 10, &TestEKF::EKFCallback, (TestEKF*)this);

    ROS_INFO("Subscribing to wheel odometry");
    odom_sub_ = node_.subscribe("/encoder", 10 , &TestEKF::OdomCallback, (TestEKF*)this);
  }

  void TearDown()
  {
    odom_sub_.shutdown();
    ekf_sub_.shutdown();
  }
};


TEST_F(TestEKF, test)
{
  Duration d(0.01);
  // wait while bag is played back
  ROS_INFO("Waiting for bag to start playing");
  while (odom_counter_ == 0)
    d.sleep();
  ROS_INFO("Detected that bag is playing");

  ROS_INFO("Waiting until end time is reached");
  while( odom_end_->header.stamp.toSec() < time_end){
    ROS_INFO("waitinf for end");
    d.sleep();
  }
  ROS_INFO("End time reached");
  // give filter some time to catch up
  //WallDuration(2.0).sleep();

  // check if callback was called enough times
  ROS_INFO("Number of ekf callbacks: %f", ekf_counter_);
  EXPECT_GT(ekf_counter_, 200);

  // check if time interval is correct
  ROS_INFO("Ekf duration: %f", ekf_duration);
  EXPECT_LT(Duration(ekf_end_->header.stamp - ekf_time_begin_).toSec(), ekf_duration * 1.3);
  EXPECT_GT(Duration(ekf_end_->header.stamp - ekf_time_begin_).toSec(), ekf_duration * 0.80);

  // check if ekf time is same as odom time
  EXPECT_NEAR(ekf_time_begin_.toSec(),  odom_time_begin_.toSec(), 2.5);
  EXPECT_NEAR(ekf_end_->header.stamp.toSec(), time_end, 1.0);

  // check filter result
  ROS_INFO("%f %f %f %f %f %f %f -- %f",ekf_end_->pose.pose.position.x, ekf_end_->pose.pose.position.y, ekf_end_->pose.pose.position.z,
            ekf_end_->pose.pose.orientation.x, ekf_end_->pose.pose.orientation.y, ekf_end_->pose.pose.orientation.z, ekf_end_->pose.pose.orientation.w,
            ekf_end_->header.stamp.toSec());


  EXPECT_NEAR(ekf_end_->pose.pose.position.x, 1.669542, EPS_trans_x);
  EXPECT_NEAR(ekf_end_->pose.pose.position.y, -3.849846, EPS_trans_y);
  EXPECT_NEAR(ekf_end_->pose.pose.position.z, 0.0, EPS_trans_z);
  EXPECT_NEAR(ekf_end_->pose.pose.orientation.x, -0.007353,  EPS_rot_x);
  EXPECT_NEAR(ekf_end_->pose.pose.orientation.y, -0.007765, EPS_rot_y);
  EXPECT_NEAR(ekf_end_->pose.pose.orientation.z, -0.597720,  EPS_rot_z);
  EXPECT_NEAR(ekf_end_->pose.pose.orientation.w, 0.801634,  EPS_rot_w);

  SUCCEED();
}




int main(int argc, char** argv)
{
  testing::InitGoogleTest(&argc, argv);
  g_argc = argc;
  g_argv = argv;

  init(g_argc, g_argv, "testEKF");

  boost::thread spinner(boost::bind(&ros::spin));

  int res = RUN_ALL_TESTS();
  spinner.interrupt();
  spinner.join();

  return res;
}