test_common.h

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// Copyright (C) 2013, PAL Robotics S.L.
//
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#include <cmath>

#include <gtest/gtest.h>

#include <ros/ros.h>

#include <geometry_msgs/Twist.h>
#include <nav_msgs/Odometry.h>
#include <tf/tf.h>

// Floating-point value comparison threshold
const double EPS = 0.01;
const double POSITION_TOLERANCE = 0.01; // 1 cm-s precision
const double VELOCITY_TOLERANCE = 0.02; // 2 cm-s-1 precision
const double ORIENTATION_TOLERANCE = 0.03; // 0.57 degree precision

class DiffDriveControllerTest : public ::testing::Test
{
public:

  DiffDriveControllerTest()
    : cmd_pub(nh.advertise<geometry_msgs::Twist>("cmd_vel", 100)),
      odom_sub(nh.subscribe("odom", 100, &DiffDriveControllerTest::odomCallback, this))
  {
  }

  ~DiffDriveControllerTest()
  {
    odom_sub.shutdown();
  }

  nav_msgs::Odometry getLastOdom(){ return last_odom; }
  void publish(geometry_msgs::Twist cmd_vel){ cmd_pub.publish(cmd_vel); }
  bool isControllerAlive(){ return (odom_sub.getNumPublishers() > 0) && (cmd_pub.getNumSubscribers() > 0); }

private:
  ros::NodeHandle nh;
  ros::Publisher cmd_pub;
  ros::Subscriber odom_sub;
  nav_msgs::Odometry last_odom;

  void odomCallback(const nav_msgs::Odometry& odom)
  {
    ROS_INFO_STREAM("Callback reveived: pos.x: " << odom.pose.pose.position.x
                     << ", orient.z: " << odom.pose.pose.orientation.z
                     << ", lin_est: " << odom.twist.twist.linear.x
                     << ", ang_est: " << odom.twist.twist.angular.z);
    last_odom = odom;
  }
};

inline tf::Quaternion tfQuatFromGeomQuat(const geometry_msgs::Quaternion& quat)
{
  return tf::Quaternion(quat.x, quat.y, quat.z, quat.w);
}