test_base_odomxyw_gt.py
Go to the documentation of this file.
00001 #!/usr/bin/env python
00002 # Software License Agreement (BSD License)
00003 #
00004 # Copyright (c) 2008, Willow Garage, Inc.
00005 # All rights reserved.
00006 #
00007 # Redistribution and use in source and binary forms, with or without
00008 # modification, are permitted provided that the following conditions
00009 # are met:
00010 #
00011 #  * Redistributions of source code must retain the above copyright
00012 #    notice, this list of conditions and the following disclaimer.
00013 #  * Redistributions in binary form must reproduce the above
00014 #    copyright notice, this list of conditions and the following
00015 #    disclaimer in the documentation and/or other materials provided
00016 #    with the distribution.
00017 #  * Neither the name of the Willow Garage nor the names of its
00018 #    contributors may be used to endorse or promote products derived
00019 #    from this software without specific prior written permission.
00020 #
00021 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032 # POSSIBILITY OF SUCH DAMAGE.
00033 #
00034 
00035 ## Gazebo test base controller vw
00036 
00037 PKG = 'pr2_gazebo'
00038 NAME = 'test_base_odomw_gt'
00039 
00040 import math
00041 import roslib
00042 roslib.load_manifest(PKG)
00043 roslib.load_manifest('rostest')
00044 
00045 import sys, unittest
00046 import os, time
00047 import rospy, rostest
00048 from geometry_msgs.msg import Twist,Vector3
00049 from nav_msgs.msg import Odometry
00050 
00051 TEST_DURATION   = 10.0
00052 
00053 TARGET_VX       =  0.5
00054 TARGET_VY       =  0.5
00055 TARGET_VW       =  0.5
00056 TARGET_DURATION = 2.0
00057 TARGET_TOL      = 0.15
00058 
00059 
00060 from test_base import BaseTest, Q, E
00061 class XYW_GT(BaseTest):
00062     def __init__(self, *args):
00063         super(XYW_GT, self).__init__(*args)
00064 
00065     def test_base(self):
00066         self.init_ros(NAME)
00067         timeout_t = time.time() + TEST_DURATION
00068         while not rospy.is_shutdown() and not self.success and time.time() < timeout_t:
00069             #do not start commanding base until p3d and odom are initialized
00070             if self.p3d_initialized == True and self.odom_initialized == True:
00071               self.pub.publish(Twist(Vector3(TARGET_VX,TARGET_VY, 0), Vector3(0,0,TARGET_VW)))
00072             time.sleep(0.1)
00073             #self.debug_e()
00074             # display what the odom error is
00075             error = E(0,0,0)
00076             error.shortest_euler_distance(self.p3d_e,self.odom_e)
00077             # print " error   " +      " x:" + str(self.odom_x - self.p3d_x) \
00078             #                   +      " y:" + str(self.odom_y - self.p3d_y) \
00079             #                   +      " e:" + str(error.x) + "," + str(error.y) + "," + str(error.z) \
00080             #                   + " t_odom:" + str(self.odom_e.x) + "," + str(self.odom_e.y) + "," + str(self.odom_e.z) \
00081             #                   + " t_p3d:" + str(self.p3d_e.x) + "," + str(self.p3d_e.y) + "," + str(self.p3d_e.z)
00082 
00083         # check total error
00084         total_error = abs(self.odom_x - self.p3d_x) + abs(self.odom_y - self.p3d_y) + abs(error.x) + abs(error.y) + abs(error.z)
00085         # print "total error:" + str(total_error) + " tol:" + str(TARGET_TOL)
00086         total_dist  = math.sqrt(self.p3d_x*self.p3d_x + self.p3d_y*self.p3d_y + self.p3d_t*self.p3d_t)
00087         if total_error/total_dist  < TARGET_TOL:
00088             self.success = True
00089 
00090         if not self.success:
00091           rospy.logerr("Testing pr2 base odometry control against simulated ground truth with target (vx,vy) = (0.5,0.5), but odom data does not match gound truth from simulation.  Total deviation in position is %f percent over a distance of %f meters."%(total_error/total_dist, total_dist));
00092         else:
00093           rospy.loginfo("Testing pr2 base odometry control against simulated ground truth with target (vx,vy) = (0.5,0.5), total deviation in position is %f percent over a distance of %f meters."%(total_error/total_dist, total_dist));
00094         
00095         self.assert_(self.success)
00096         
00097 if __name__ == '__main__':
00098     rostest.run(PKG, sys.argv[0], XYW_GT, sys.argv) #, text_mode=True)
00099 
00100 


pr2_gazebo
Author(s): John Hsu
autogenerated on Thu Apr 24 2014 15:48:38