test_common.h

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// Copyright (C) 2013, 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:
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//     this list of conditions and the following disclaimer.
//   * Redistributions in binary form must reproduce the above copyright
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//   * 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
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#include <cmath>

#include <gtest/gtest.h>

#include <ros/ros.h>

#include <geometry_msgs/Twist.h>
#include <four_wheel_steering_msgs/FourWheelSteering.h>
#include <nav_msgs/Odometry.h>
#include <tf/tf.h>

#include <std_srvs/Empty.h>

// Floating-point value comparison threshold
const double EPS = 0.01;
const double POSITION_TOLERANCE = 0.01; // 1 cm-s precision
const double VELOCITY_TOLERANCE = 0.02; // 2 cm-s-1 precision
const double JERK_LINEAR_VELOCITY_TOLERANCE = 0.10; // 10 cm-s-1 precision
const double JERK_ANGULAR_VELOCITY_TOLERANCE = 0.05; // 3 deg-s-1 precision
const double ORIENTATION_TOLERANCE = 0.03; // 0.57 degree precision

class FourWheelSteeringControllerTest : public ::testing::Test
{
public:

  FourWheelSteeringControllerTest()
  : cmd_twist_pub(nh.advertise<geometry_msgs::Twist>("cmd_vel", 100))
  , cmd_4ws_pub(nh.advertise<four_wheel_steering_msgs::FourWheelSteering>("cmd_four_wheel_steering", 100))
  , odom_sub(nh.subscribe("odom", 100, &FourWheelSteeringControllerTest::odomCallback, this))
  , start_srv(nh.serviceClient<std_srvs::Empty>("start"))
  , stop_srv(nh.serviceClient<std_srvs::Empty>("stop"))
  {
  }

  ~FourWheelSteeringControllerTest()
  {
    odom_sub.shutdown();
  }

  nav_msgs::Odometry getLastOdom(){ return last_odom; }
  void publish(geometry_msgs::Twist cmd_vel)
  {
    cmd_twist_pub.publish(cmd_vel);
  }
  void publish_4ws(four_wheel_steering_msgs::FourWheelSteering cmd_vel)
  {
    cmd_4ws_pub.publish(cmd_vel);
  }
  bool isControllerAlive(){ return (odom_sub.getNumPublishers() > 0)
        && ((cmd_twist_pub.getNumSubscribers() > 0) || (cmd_4ws_pub.getNumSubscribers() > 0)); }

  void start(){ std_srvs::Empty srv; start_srv.call(srv); }
  void stop(){ std_srvs::Empty srv; stop_srv.call(srv); }

private:
  ros::NodeHandle nh;
  ros::Publisher cmd_twist_pub, cmd_4ws_pub;
  ros::Subscriber odom_sub;
  nav_msgs::Odometry last_odom;

  ros::ServiceClient start_srv;
  ros::ServiceClient stop_srv;

  void odomCallback(const nav_msgs::Odometry& odom)
  {
    ROS_INFO_STREAM("Callback reveived: pos.x: " << odom.pose.pose.position.x
                     << ", orient.z: " << odom.pose.pose.orientation.z
                     << ", lin_est: " << odom.twist.twist.linear.x
                     << ", ang_est: " << odom.twist.twist.angular.z);
    last_odom = odom;
  }
};

inline tf::Quaternion tfQuatFromGeomQuat(const geometry_msgs::Quaternion& quat)
{
  return tf::Quaternion(quat.x, quat.y, quat.z, quat.w);
}