diff_drive_nan_test.cpp

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// Copyright (C) 2014, PAL Robotics S.L.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//   * Redistributions of source code must retain the above copyright notice,
//     this list of conditions and the following disclaimer.
//   * Redistributions in binary form must reproduce the above copyright
//     notice, this list of conditions and the following disclaimer in the
//     documentation and/or other materials provided with the distribution.
//   * Neither the name of PAL Robotics, Inc. nor the names of its
//     contributors may be used to endorse or promote products derived from
//     this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
 
 
#include "test_common.h"
 
// NaN
#include <limits>
 
// TEST CASES
TEST_F(DiffDriveControllerTest, testNaN) {
  // wait for ROS
  waitForController();
 
  // zero everything before test
  geometry_msgs::Twist cmd_vel;
  cmd_vel.linear.x = 0.0;
  cmd_vel.angular.z = 0.0;
  publish(cmd_vel);
  ros::Duration(2.0).sleep();
 
  // send a command
  cmd_vel.linear.x = 0.1;
  ros::Duration(2.0).sleep();
 
  // stop robot (will generate NaN)
  stop();
  ros::Duration(2.0).sleep();
 
  nav_msgs::Odometry odom = getLastOdom();
 
  EXPECT_FALSE(std::isnan(odom.twist.twist.linear.x));
  EXPECT_FALSE(std::isnan(odom.twist.twist.angular.z));
  EXPECT_FALSE(std::isnan(odom.pose.pose.position.x));
  EXPECT_FALSE(std::isnan(odom.pose.pose.position.y));
  EXPECT_FALSE(std::isnan(odom.pose.pose.orientation.z));
  EXPECT_FALSE(std::isnan(odom.pose.pose.orientation.w));
 
  // start robot
  start();
  ros::Duration(2.0).sleep();
 
  odom = getLastOdom();
 
  EXPECT_FALSE(std::isnan(odom.twist.twist.linear.x));
  EXPECT_FALSE(std::isnan(odom.twist.twist.angular.z));
  EXPECT_FALSE(std::isnan(odom.pose.pose.position.x));
  EXPECT_FALSE(std::isnan(odom.pose.pose.position.y));
  EXPECT_FALSE(std::isnan(odom.pose.pose.orientation.z));
  EXPECT_FALSE(std::isnan(odom.pose.pose.orientation.w));
}
 
TEST_F(DiffDriveControllerTest, testNaNCmd) {
  // wait for ROS
  while (!isControllerAlive()) {
    ros::Duration(0.1).sleep();
  }
  // zero everything before test
  geometry_msgs::Twist cmd_vel;
  cmd_vel.linear.x = 0.0;
  cmd_vel.angular.z = 0.0;
  publish(cmd_vel);
  ros::Duration(0.1).sleep();
 
  // send NaN
  for (int i = 0; i < 10; ++i) {
    geometry_msgs::Twist cmd_vel;
    cmd_vel.linear.x = NAN;
    cmd_vel.angular.z = 0.0;
    publish(cmd_vel);
    geometry_msgs::TwistStamped odom_msg = getLastCmdVelOut();
    EXPECT_FALSE(std::isnan(odom_msg.twist.linear.x));
    EXPECT_FALSE(std::isnan(odom_msg.twist.angular.z));
    ros::Duration(0.1).sleep();
  }
  for (int i = 0; i < 10; ++i) {
    geometry_msgs::Twist cmd_vel;
    cmd_vel.linear.x = 0.0;
    cmd_vel.angular.z = NAN;
    publish(cmd_vel);
    geometry_msgs::TwistStamped odom_msg = getLastCmdVelOut();
    EXPECT_FALSE(std::isnan(odom_msg.twist.linear.x));
    EXPECT_FALSE(std::isnan(odom_msg.twist.angular.z));
    ros::Duration(0.1).sleep();
  }
 
  nav_msgs::Odometry odom = getLastOdom();
  EXPECT_DOUBLE_EQ(odom.twist.twist.linear.x, 0.0);
  EXPECT_DOUBLE_EQ(odom.pose.pose.position.x, 0.0);
  EXPECT_DOUBLE_EQ(odom.pose.pose.position.y, 0.0);
 
  geometry_msgs::TwistStamped odom_msg = getLastCmdVelOut();
  EXPECT_DOUBLE_EQ(odom_msg.twist.linear.x, 0.0);
}
 
int main(int argc, char **argv) {
  testing::InitGoogleTest(&argc, argv);
  ros::init(argc, argv, "diff_drive_nan_test");
 
  ros::AsyncSpinner spinner(1);
  spinner.start();
  int ret = RUN_ALL_TESTS();
  spinner.stop();
  ros::shutdown();
  return ret;
}