trajectory_tracker_test.h

Go to the documentation of this file.

/*
 * Copyright (c) 2018-2020, the neonavigation authors
 * All rights reserved.
 *
 * 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 the copyright holder 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.
 */
 
#ifndef TRAJECTORY_TRACKER_TEST_H
#define TRAJECTORY_TRACKER_TEST_H
 
#include <algorithm>
#include <iostream>
#include <list>
#include <memory>
#include <string>
#include <vector>
 
#include <boost/thread.hpp>
 
#include <Eigen/Core>
#include <Eigen/Geometry>
 
#include <ros/ros.h>
 
#include <dynamic_reconfigure/client.h>
#include <geometry_msgs/Twist.h>
#include <nav_msgs/Odometry.h>
#include <nav_msgs/Path.h>
#include <rosgraph_msgs/Clock.h>
#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
#include <tf2_ros/transform_broadcaster.h>
#include <tf2/utils.h>
 
#include <trajectory_tracker/TrajectoryTrackerConfig.h>
#include <trajectory_tracker_msgs/PathWithVelocity.h>
#include <trajectory_tracker_msgs/TrajectoryTrackerStatus.h>
 
#include <gtest/gtest.h>
 
class TrajectoryTrackerTest : public ::testing::Test
{
private:
  ros::NodeHandle nh_;
  ros::NodeHandle pnh_;
  ros::Subscriber sub_cmd_vel_;
  ros::Subscriber sub_status_;
  ros::Publisher pub_path_;
  ros::Publisher pub_path_vel_;
  ros::Publisher pub_odom_;
  tf2_ros::TransformBroadcaster tfb_;
  ros::Time cmd_vel_time_;
  ros::Time trans_stamp_last_;
 
  ros::Time initial_cmd_vel_time_;
  int cmd_vel_count_;
 
  std::list<nav_msgs::Odometry> odom_buffer_;
 
protected:
  std_msgs::Header last_path_header_;
  double error_lin_;
  double error_large_lin_;
  double error_ang_;
  using ParamType = trajectory_tracker::TrajectoryTrackerConfig;
  std::unique_ptr<dynamic_reconfigure::Client<ParamType>> dynamic_reconfigure_client_;
 
  double getYaw() const
  {
    return tf2::getYaw(pose_.getRotation());
  }
  Eigen::Vector2d getPos() const
  {
    return Eigen::Vector2d(pose_.getOrigin().getX(), pose_.getOrigin().getY());
  }
 
private:
  void cbStatus(const trajectory_tracker_msgs::TrajectoryTrackerStatus::ConstPtr& msg)
  {
    status_ = msg;
  }
  void cbCmdVel(const geometry_msgs::Twist::ConstPtr& msg)
  {
    const ros::Time now = ros::Time::now();
    if (cmd_vel_time_ == ros::Time(0))
      cmd_vel_time_ = now;
    const float dt = std::min((now - cmd_vel_time_).toSec(), 0.1);
    const tf2::Transform pose_diff(tf2::Quaternion(tf2::Vector3(0, 0, 1), msg->angular.z * dt),
                                   tf2::Vector3(msg->linear.x * dt, 0, 0));
    pose_ *= pose_diff;
    cmd_vel_time_ = now;
    cmd_vel_ = msg;
    ++cmd_vel_count_;
  }
 
public:
  tf2::Transform pose_;
  trajectory_tracker_msgs::TrajectoryTrackerStatus::ConstPtr status_;
  geometry_msgs::Twist::ConstPtr cmd_vel_;
  ros::Duration delay_;
 
  TrajectoryTrackerTest()
    : nh_("")
    , pnh_("~")
  {
    sub_cmd_vel_ = nh_.subscribe(
        "cmd_vel", 1, &TrajectoryTrackerTest::cbCmdVel, this);
    sub_status_ = nh_.subscribe(
        "trajectory_tracker/status", 1, &TrajectoryTrackerTest::cbStatus, this);
    pub_path_ = nh_.advertise<nav_msgs::Path>("path", 1, true);
    pub_path_vel_ = nh_.advertise<trajectory_tracker_msgs::PathWithVelocity>("path_velocity", 1, true);
    pub_odom_ = nh_.advertise<nav_msgs::Odometry>("odom", 10, true);
 
    double delay;
    pnh_.param("odom_delay", delay, 0.0);
    delay_ = ros::Duration(delay);
    pnh_.param("error_lin", error_lin_, 0.01);
    pnh_.param("error_large_lin", error_large_lin_, 0.1);
    pnh_.param("error_ang", error_ang_, 0.01);
 
    dynamic_reconfigure_client_.reset(new dynamic_reconfigure::Client<ParamType>("/trajectory_tracker"));
 
    ros::Rate wait(10);
    for (size_t i = 0; i < 100; ++i)
    {
      wait.sleep();
      ros::spinOnce();
      if (pub_path_.getNumSubscribers() > 0)
        break;
    }
  }
  void initState(const tf2::Transform& pose)
  {
    // Wait trajectory_tracker node
    ros::Rate rate(10);
    const auto start = ros::WallTime::now();
    while (ros::ok())
    {
      nav_msgs::Path path;
      path.header.frame_id = "odom";
      path.header.stamp = ros::Time::now();
      pub_path_.publish(path);
 
      pose_ = pose;
      publishTransform();
 
      rate.sleep();
      ros::spinOnce();
      if (status_ &&
          status_->status != trajectory_tracker_msgs::TrajectoryTrackerStatus::FOLLOWING)
        break;
      ASSERT_LT(ros::WallTime::now(), start + ros::WallDuration(10.0))
          << "trajectory_tracker status timeout, status: "
          << (status_ ? std::to_string(static_cast<int>(status_->status)) : "none");
    }
    ros::Duration(0.5).sleep();
  }
  void initState(const Eigen::Vector2d& pos, const float yaw)
  {
    initState(tf2::Transform(tf2::Quaternion(tf2::Vector3(0, 0, 1), yaw),
                             tf2::Vector3(pos.x(), pos.y(), 0)));
  }
  void waitUntilStart(const std::function<void()> func = nullptr)
  {
    ros::Rate rate(50);
    const auto start = ros::WallTime::now();
    while (ros::ok())
    {
      if (func)
        func();
 
      publishTransform();
      rate.sleep();
      ros::spinOnce();
      if (status_ &&
          status_->status == trajectory_tracker_msgs::TrajectoryTrackerStatus::FOLLOWING)
        break;
      ASSERT_LT(ros::WallTime::now(), start + ros::WallDuration(10.0))
          << "trajectory_tracker status timeout, status: "
          << (status_ ? std::to_string(static_cast<int>(status_->status)) : "none");
    }
    initial_cmd_vel_time_ = ros::Time::now();
    cmd_vel_count_ = 0;
  }
  void publishPath(const std::vector<Eigen::Vector3d>& poses)
  {
    nav_msgs::Path path;
    path.header.frame_id = "odom";
    path.header.stamp = ros::Time::now();
 
    for (const Eigen::Vector3d& p : poses)
    {
      const Eigen::Quaterniond q(Eigen::AngleAxisd(p[2], Eigen::Vector3d(0, 0, 1)));
 
      geometry_msgs::PoseStamped pose;
      pose.header.frame_id = path.header.frame_id;
      pose.pose.position.x = p[0];
      pose.pose.position.y = p[1];
      pose.pose.orientation.x = q.x();
      pose.pose.orientation.y = q.y();
      pose.pose.orientation.z = q.z();
      pose.pose.orientation.w = q.w();
 
      path.poses.push_back(pose);
    }
    pub_path_.publish(path);
    last_path_header_ = path.header;
  }
  void publishPathVelocity(const std::vector<Eigen::Vector4d>& poses)
  {
    trajectory_tracker_msgs::PathWithVelocity path;
    path.header.frame_id = "odom";
    path.header.stamp = ros::Time::now();
 
    for (const Eigen::Vector4d& p : poses)
    {
      const Eigen::Quaterniond q(Eigen::AngleAxisd(p[2], Eigen::Vector3d(0, 0, 1)));
 
      trajectory_tracker_msgs::PoseStampedWithVelocity pose;
      pose.header.frame_id = path.header.frame_id;
      pose.pose.position.x = p[0];
      pose.pose.position.y = p[1];
      pose.pose.orientation.x = q.x();
      pose.pose.orientation.y = q.y();
      pose.pose.orientation.z = q.z();
      pose.pose.orientation.w = q.w();
      pose.linear_velocity.x = p[3];
 
      path.poses.push_back(pose);
    }
    // needs sleep to prevent that the empty path from initState arrives later.
    ros::Duration(0.5).sleep();
    pub_path_vel_.publish(path);
    last_path_header_ = path.header;
  }
  void publishTransform()
  {
    const ros::Time now = ros::Time::now();
 
    nav_msgs::Odometry odom;
    odom.header.frame_id = "odom";
    odom.header.stamp = now;
    odom.child_frame_id = "base_link";
    tf2::toMsg(pose_, odom.pose.pose);
    if (cmd_vel_)
    {
      odom.twist.twist.linear = cmd_vel_->linear;
      odom.twist.twist.angular = cmd_vel_->angular;
    }
    publishTransform(odom);
  }
 
  void publishTransform(const nav_msgs::Odometry& odom)
  {
    odom_buffer_.push_back(odom);
 
    const ros::Time pub_time = odom.header.stamp - delay_;
 
    while (odom_buffer_.size() > 0)
    {
      nav_msgs::Odometry odom = odom_buffer_.front();
      if (odom.header.stamp > pub_time)
        break;
 
      odom_buffer_.pop_front();
 
      if (odom.header.stamp != trans_stamp_last_)
      {
        geometry_msgs::TransformStamped trans;
        trans.header = odom.header;
        trans.header.stamp += ros::Duration(0.1);
        trans.child_frame_id = odom.child_frame_id;
        trans.transform.translation.x = odom.pose.pose.position.x;
        trans.transform.translation.y = odom.pose.pose.position.y;
        trans.transform.rotation.x = odom.pose.pose.orientation.x;
        trans.transform.rotation.y = odom.pose.pose.orientation.y;
        trans.transform.rotation.z = odom.pose.pose.orientation.z;
        trans.transform.rotation.w = odom.pose.pose.orientation.w;
 
        tfb_.sendTransform(trans);
        pub_odom_.publish(odom);
      }
      trans_stamp_last_ = odom.header.stamp;
    }
  }
 
  double getCmdVelFrameRate() const
  {
    return cmd_vel_count_ / (cmd_vel_time_ - initial_cmd_vel_time_).toSec();
  }
 
  bool getConfig(ParamType& config) const
  {
    const ros::WallTime time_limit = ros::WallTime::now() + ros::WallDuration(10.0);
    while (time_limit > ros::WallTime::now())
    {
      if (dynamic_reconfigure_client_->getCurrentConfiguration(config, ros::Duration(0.1)))
      {
        return true;
      }
      ros::spinOnce();
    }
    return false;
  }
 
  bool setConfig(const ParamType& config)
  {
    // Wait until parameter server becomes ready
    ParamType dummy;
    if (!getConfig(dummy))
    {
      return false;
    }
    return dynamic_reconfigure_client_->setConfiguration(config);
  }
};
 
namespace trajectory_tracker_msgs
{
std::ostream& operator<<(std::ostream& os, const TrajectoryTrackerStatus::ConstPtr& msg)
{
  if (!msg)
  {
    os << "nullptr";
  }
  else
  {
    os << "  header: " << msg->header.stamp << " " << msg->header.frame_id << std::endl
       << "  distance_remains: " << msg->distance_remains << std::endl
       << "  angle_remains: " << msg->angle_remains << std::endl
       << "  status: " << msg->status << std::endl
       << "  path_header: " << msg->path_header.stamp << " " << msg->header.frame_id;
  }
  return os;
}
}  // namespace trajectory_tracker_msgs
 
#endif  // TRAJECTORY_TRACKER_TEST_H