test_base_vw_gt.py

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#!/usr/bin/env python
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## Gazebo test base controller vw
##   sends cmd_vel vx= 0, vy=0, vw =TARGET_VW
##   checks to see if P3D returns corresponding ground truth within TARGET_TOL of TARGET_VW
##          for a duration of TARGET_DURATION seconds

PKG = 'pr2_gazebo'
NAME = 'test_base_vw_gt'

import math
import roslib
roslib.load_manifest(PKG)

import sys, unittest
import os, time
import rospy, rostest
from geometry_msgs.msg import Twist,Vector3
from nav_msgs.msg import Odometry

TEST_DURATION   = 60.0

TARGET_VW       =  0.25
TARGET_DURATION = 2.0
#TARGET_TOL      = 0.15 #empirical test result john - 20090420
TARGET_TOL      = 0.18 #empirical test result john - 20120810 - slight regression

from test_base import BaseTest, Q, E
class VW_GT(BaseTest):
    def __init__(self, *args):
        super(VW_GT, self).__init__(*args)
        self.reached_target_vw = False
        self.duration_start = 0

    def odomInput(self, odom):
        # override parent
        #self.printBaseOdom(odom)
        error = 0

    def p3dInput(self, p3d):
        # override parent
        i = 0
        #self.printBaseP3D(p3d)
        error = abs(p3d.twist.twist.angular.z - TARGET_VW)
        print " Error: " + str(error) + " Duration: " + str(time.time() - self.duration_start)
        # has to reach target vw and maintain target vw for a duration of TARGET_DURATION seconds
        if self.reached_target_vw:
          if error < TARGET_TOL:
            if time.time() - self.duration_start > TARGET_DURATION:
              self.success = True
          else:
            # failed to maintain target vw, reset duration
            self.success = False
            self.reached_target_vw = False
        else:
          if error < TARGET_TOL:
            self.reached_target_vw = True
            self.duration_start = time.time()
    
    def test_base(self):
        self.init_ros(NAME)
        timeout_t = time.time() + TEST_DURATION
        while not rospy.is_shutdown() and not self.success and time.time() < timeout_t:
            self.pub.publish(Twist(Vector3(0.0,0.0,0), Vector3(0,0,TARGET_VW)))
            time.sleep(0.1)
        self.assert_(self.success)
        
if __name__ == '__main__':
    rostest.run(PKG, sys.argv[0], VW_GT, sys.argv) #, text_mode=True)