test_common.h
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00001 
00002 // Copyright (C) 2013, PAL Robotics S.L.
00003 //
00004 // Redistribution and use in source and binary forms, with or without
00005 // modification, are permitted provided that the following conditions are met:
00006 //   * Redistributions of source code must retain the above copyright notice,
00007 //     this list of conditions and the following disclaimer.
00008 //   * Redistributions in binary form must reproduce the above copyright
00009 //     notice, this list of conditions and the following disclaimer in the
00010 //     documentation and/or other materials provided with the distribution.
00011 //   * Neither the name of PAL Robotics, Inc. nor the names of its
00012 //     contributors may be used to endorse or promote products derived from
00013 //     this software without specific prior written permission.
00014 //
00015 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00016 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00017 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00018 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00019 // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00020 // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00021 // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00022 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00023 // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00024 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00025 // POSSIBILITY OF SUCH DAMAGE.
00027 
00030 
00031 #include <cmath>
00032 
00033 #include <gtest/gtest.h>
00034 
00035 #include <ros/ros.h>
00036 
00037 #include <geometry_msgs/Twist.h>
00038 #include <nav_msgs/Odometry.h>
00039 #include <tf/tf.h>
00040 
00041 #include <std_srvs/Empty.h>
00042 
00043 // Floating-point value comparison threshold
00044 const double EPS = 0.05;
00045 const double POSITION_TOLERANCE = 0.05; // 1 cm-s precision
00046 const double VELOCITY_TOLERANCE = 0.10; // 2 cm-s-1 precision
00047 const double ANGULAR_VELOCITY_TOLERANCE = 0.1; // 3 deg-s-1 precision
00048 const double JERK_LINEAR_VELOCITY_TOLERANCE = 0.10; // 10 cm-s-1 precision
00049 const double JERK_ANGULAR_VELOCITY_TOLERANCE = 0.05; // 3 deg-s-1 precision
00050 const double ORIENTATION_TOLERANCE = 0.03; // 0.57 degree precision
00051 
00052 class SteerDriveControllerTest : public ::testing::Test
00053 {
00054 public:
00055 
00056   SteerDriveControllerTest()
00057   : cmd_pub(nh.advertise<geometry_msgs::Twist>("cmd_vel", 100))
00058   , odom_sub(nh.subscribe("odom", 100, &SteerDriveControllerTest::odomCallback, this))
00059   , start_srv(nh.serviceClient<std_srvs::Empty>("start"))
00060   , stop_srv(nh.serviceClient<std_srvs::Empty>("stop"))
00061   {
00062   }
00063 
00064   ~SteerDriveControllerTest()
00065   {
00066     odom_sub.shutdown();
00067   }
00068 
00069   nav_msgs::Odometry getLastOdom(){ return last_odom; }
00070   void publish(geometry_msgs::Twist cmd_vel){ cmd_pub.publish(cmd_vel); }
00071   bool isControllerAlive(){ return (odom_sub.getNumPublishers() > 0) && (cmd_pub.getNumSubscribers() > 0); }
00072 
00073   void start(){ std_srvs::Empty srv; start_srv.call(srv); }
00074   void stop(){ std_srvs::Empty srv; stop_srv.call(srv); }
00075 
00076 private:
00077   ros::NodeHandle nh;
00078   ros::Publisher cmd_pub;
00079   ros::Subscriber odom_sub;
00080   nav_msgs::Odometry last_odom;
00081 
00082   ros::ServiceClient start_srv;
00083   ros::ServiceClient stop_srv;
00084 
00085   void odomCallback(const nav_msgs::Odometry& odom)
00086   {
00087     ROS_INFO_STREAM("Callback reveived: pos.x: " << odom.pose.pose.position.x
00088                      << ", orient.z: " << odom.pose.pose.orientation.z
00089                      << ", lin_est: " << odom.twist.twist.linear.x
00090                      << ", ang_est: " << odom.twist.twist.angular.z);
00091     last_odom = odom;
00092   }
00093 };
00094 
00095 inline tf::Quaternion tfQuatFromGeomQuat(const geometry_msgs::Quaternion& quat)
00096 {
00097   return tf::Quaternion(quat.x, quat.y, quat.z, quat.w);
00098 }


steer_drive_controller
Author(s): CIR-KIT , Masaru Morita
autogenerated on Sat Jun 8 2019 19:20:25