test_navigate_boundary.cpp

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/*
 * Copyright (c) 2019, the neonavigation authors
 * All rights reserved.
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 *     * Redistributions in binary form must reproduce the above copyright
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 *       this software without specific prior written permission.
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#include <cstddef>
#include <memory>
 
#include <ros/ros.h>
#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
#include <tf2_ros/transform_broadcaster.h>
#include <actionlib/client/simple_action_client.h>
 
#include <move_base_msgs/MoveBaseAction.h>
#include <nav_msgs/Path.h>
#include <planner_cspace_msgs/PlannerStatus.h>
#include <std_msgs/Empty.h>
 
#include <gtest/gtest.h>
 
class NavigateBoundary : public ::testing::Test
{
protected:
  using ActionClient = actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction>;
  using ActionClientPtr = std::shared_ptr<ActionClient>;
 
  ros::NodeHandle nh_;
  tf2_ros::TransformBroadcaster tfb_;
  ros::Subscriber sub_status_;
  ros::Subscriber sub_path_;
  planner_cspace_msgs::PlannerStatus::ConstPtr status_;
  nav_msgs::Path::ConstPtr path_;
  ActionClientPtr move_base_;
 
  NavigateBoundary()
  {
    move_base_ = std::make_shared<ActionClient>("/move_base");
    if (!move_base_->waitForServer(ros::Duration(10.0)))
    {
      ROS_ERROR("Failed to connect move_base action");
      exit(EXIT_FAILURE);
    }
  }
 
  void publishTransform(const double x, const double y)
  {
    geometry_msgs::TransformStamped trans;
    trans.header.stamp = ros::Time::now();
    trans.header.frame_id = "odom";
    trans.child_frame_id = "base_link";
    trans.transform.translation.x = x;
    trans.transform.translation.y = y;
    trans.transform.rotation.w = 1.0;
    tfb_.sendTransform(trans);
  }
  virtual void SetUp()
  {
    sub_status_ = nh_.subscribe("/planner_3d/status", 100, &NavigateBoundary::cbStatus, this);
    sub_path_ = nh_.subscribe("path", 1, &NavigateBoundary::cbPath, this);
 
    publishTransform(1.0, 0.6);
    ros::Duration(0.5).sleep();
 
    move_base_msgs::MoveBaseGoal goal;
    goal.target_pose.header.frame_id = "map";
    goal.target_pose.header.stamp = ros::Time::now();
    goal.target_pose.pose.orientation.w = 1;
    goal.target_pose.pose.position.x = 1.4;
    goal.target_pose.pose.position.y = 0.6;
    move_base_->sendGoal(goal);
    ros::Duration(0.5).sleep();
  }
  void cbPath(const nav_msgs::Path::ConstPtr& msg)
  {
    path_ = msg;
  }
  void cbStatus(const planner_cspace_msgs::PlannerStatus::ConstPtr& msg)
  {
    status_ = msg;
  }
};
 
TEST_F(NavigateBoundary, StartPositionScan)
{
  // map width/height is 32px * 0.1m = 3.2m
  for (double x = -10; x < 13; x += 2.0)
  {
    for (double y = -10; y < 13; y += 2.0)
    {
      publishTransform(x, y);
 
      path_ = nullptr;
      status_ = nullptr;
      for (int i = 0; i < 100; ++i)
      {
        ros::Duration(0.05).sleep();
        ros::spinOnce();
        if (path_ && status_)
          break;
      }
      // Planner must publish at least empty path if alive.
      ASSERT_TRUE(static_cast<bool>(path_));
      // Planner status must be published even if robot if outside of the map.
      ASSERT_TRUE(static_cast<bool>(status_));
    }
  }
}
 
TEST_F(NavigateBoundary, StartPositionScanWithTemporaryEscape)
{
  ros::Publisher pub_trigger = nh_.advertise<std_msgs::Empty>("/planner_3d/temporary_escape", 1);
 
  // map width/height is 32px * 0.1m = 3.2m
  for (double x = -10; x < 13; x += 2.0)
  {
    for (double y = -10; y < 13; y += 2.0)
    {
      publishTransform(x, y);
 
      path_ = nullptr;
      status_ = nullptr;
      for (int i = 0; i < 10; ++i)
      {
        std_msgs::Empty msg;
        pub_trigger.publish(msg);
 
        ros::Duration(0.2).sleep();
        ros::spinOnce();
        if (path_ && status_)
          break;
      }
      // Planner must publish at least empty path if alive.
      ASSERT_TRUE(static_cast<bool>(path_));
      // Planner status must be published even if robot if outside of the map.
      ASSERT_TRUE(static_cast<bool>(status_));
    }
  }
}
 
int main(int argc, char** argv)
{
  testing::InitGoogleTest(&argc, argv);
  ros::init(argc, argv, "test_navigate_boundary");
 
  return RUN_ALL_TESTS();
}