test_map_store.py
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00001 #!/usr/bin/env python
00002 
00003 PKG = 'map_store'
00004 import roslib; roslib.load_manifest(PKG)
00005 import sys
00006 import rospy
00007 import unittest
00008 from nav_msgs.msg import *
00009 from nav_msgs.srv import *
00010 from map_store.srv import *
00011  
00012 ## Tests map store my reading a map from the map topic,
00013 ## reading a map from the dynamic_map service, renaming
00014 ## both maps, republishing both maps, and deleting both
00015 ## maps.
00016 class TestMapStore(unittest.TestCase):
00017     ## test 1 == 1
00018     def compare_maps(self, map_a, map_b):
00019         return str(map_a) == str(map_b)
00020 
00021     def create_map(self, d):
00022         test_map = OccupancyGrid()
00023         test_map.info.resolution = 1.0 + d
00024         test_map.info.width = 10
00025         test_map.info.height = 10
00026         test_map.info.origin.position.x = 0.0 + d
00027         test_map.info.origin.position.y = 1.0 + d
00028         test_map.info.origin.position.z = 2.0 + d
00029         test_map.info.origin.orientation.x = 3.0 + d
00030         test_map.info.origin.orientation.y = 4.0 + d
00031         test_map.info.origin.orientation.z = 5.0 + d
00032         test_map.info.origin.orientation.w = 6.0 + d
00033         test_map.data = []
00034         for i in range(0, 100):
00035             test_map.data.append(i)
00036         return test_map
00037 
00038     def on_map(self, msg):
00039         if (self.wait_for_map and self.check_map != None):
00040             #self.assertEquals(self.compare_maps(self.check_map, msg), True, "Invalid map return")
00041             self.wait_for_map = False
00042         
00043         
00044 
00045     def test_map_store(self):
00046         rospy.init_node('test_map_store')
00047 
00048         #Create the two test maps
00049         test_map_1 = self.create_map(00.0)
00050         test_map_2 = self.create_map(10.0)
00051         test_map_2.data.reverse()
00052 
00053         self.wait_for_map = False
00054         self.check_map = None
00055         
00056         #Create services, publishers, and subscribers
00057         map_pub = rospy.Publisher('/map', OccupancyGrid)
00058         test_map_sub = rospy.Subscriber('/test_map', OccupancyGrid, self.on_map)
00059         dynamic_map = rospy.Service('dynamic_map', GetMap, lambda x: GetMapResponse(map=test_map_2))
00060         print "Wait for /list_maps"
00061         rospy.wait_for_service("/list_maps")
00062         list_maps = rospy.ServiceProxy('/list_maps', ListMaps)
00063         print "Wait for /name_latest_map"
00064         rospy.wait_for_service("/save_map")
00065         name_latest_map = rospy.ServiceProxy('/save_map', SaveMap)
00066         print "Wait for /delete_map"
00067         rospy.wait_for_service("/delete_map")
00068         delete_map = rospy.ServiceProxy('/delete_map', DeleteMap)
00069         print "Wait for /rename_map"
00070         rospy.wait_for_service("/rename_map")
00071         rename_map = rospy.ServiceProxy('/rename_map', RenameMap)
00072         print "Wait for /publish_map"
00073         rospy.wait_for_service("/publish_map")
00074         publish_map = rospy.ServiceProxy('/publish_map', PublishMap)
00075         print "Wait for /test_dynamic_map"
00076         rospy.wait_for_service("/test_dynamic_map")
00077         test_dynamic_map = rospy.ServiceProxy('/test_dynamic_map', GetMap)
00078 
00079 
00080         print "Wait 1 second for everything to start up"
00081         rospy.sleep(1.0)
00082 
00083         #Get the initial list of all maps
00084         initial_map_list = []
00085         for m in list_maps().map_list:
00086             initial_map_list.append(m.map_id)
00087         print "Initial maps:", initial_map_list
00088 
00089         #Write out map 1
00090         print "Sending map 1"
00091         map_pub.publish(test_map_1)
00092         rospy.sleep(5.0)
00093 
00094         #Get the first map
00095         map_id_1 = None
00096         for i in list_maps().map_list:
00097             if not i.map_id in initial_map_list:
00098                 self.assertEquals(map_id_1, None, "Two or more maps from /map topic")
00099                 map_id_1 = i.map_id
00100         print "First map is:", map_id_1
00101         self.assertNotEquals(map_id_1, None, "Map was not loaded from the /map topic")
00102         
00103         #Save the second map
00104         saved_map_name = "test_map_srv"
00105         name_latest_map(map_name=saved_map_name)
00106         rospy.sleep(5.0)
00107 
00108         #Get the second map
00109         map_id_2 = None
00110         for i in list_maps().map_list:
00111             if not i.map_id in initial_map_list and i.map_id != map_id_1:
00112                 self.assertEquals(map_id_2, None, "Two or more maps from dynamic_map")
00113                 self.assertEquals(i.name, saved_map_name, \
00114                                       "Saved map has the wrong name: %s instead of %s"%(i.name, saved_map_name))
00115                 map_id_2 = i.map_id
00116         print "Second map is:", map_id_2
00117         self.assertNotEquals(map_id_2, None, "Map was not loaded from the dynamic_map")
00118         
00119         #Re-name the first map
00120         print "Renaming first map"
00121         topic_map_name = "test_map_msg"
00122         rename_map(map_id=map_id_1, new_name=topic_map_name)
00123         rospy.sleep(1.0)
00124 
00125         #Ensure the renaming happened
00126         for i in list_maps().map_list:
00127             if i.map_id == map_id_1:
00128                 self.assertEquals(i.name, topic_map_name, \
00129                                       "Saved map has the wrong name: %s instead of %s"%(i.name, topic_map_name))
00130         
00131         
00132         #Display both maps
00133         print "Displaying first map"
00134         self.wait_for_map = True
00135         self.check_map = test_map_1
00136         publish_map(map_id_1)
00137         while (self.wait_for_map):
00138             rospy.sleep(1.0)
00139         self.assertEquals(self.compare_maps(test_dynamic_map().map, test_map_1), True, "Test map 1 is bad")
00140         
00141         print "Displaying second map"
00142         self.wait_for_map = True
00143         self.check_map = test_map_2
00144         publish_map(map_id_2)
00145         while (self.wait_for_map):
00146             rospy.sleep(1.0)
00147         self.assertEquals(self.compare_maps(test_dynamic_map().map, test_map_2), True, "Test map 2 is bad")
00148         
00149         #Delete both maps
00150         print "Deleting both maps"
00151         delete_map(map_id_1)
00152         delete_map(map_id_2)
00153         rospy.sleep(1.0)
00154         
00155         #Check that they are gone
00156         print "Ensuring that the maps are gone"
00157         for i in list_maps().map_list:
00158             self.assertNotEquals(i.map_id, map_id_1, "The /map topic map could not be deleted")
00159             self.assertNotEquals(i.map_id, map_id_2, "The dynamic_map map could not be deleted")
00160 
00161         
00162         #rospy.spin()
00163         rospy.sleep(1.0)
00164         print "Finished"
00165 
00166 
00167 
00168 
00169 if __name__ == '__main__':
00170     import rostest
00171     rostest.rosrun(PKG, 'test_map_store', TestMapStore)


map_store
Author(s): Dave Hershberger
autogenerated on Wed Aug 26 2015 12:28:59