test_safety_limiter2.cpp

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/*
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#include <algorithm>
#include <cmath>
#include <string>
 
#include <ros/ros.h>
 
#include <geometry_msgs/Twist.h>
#include <sensor_msgs/PointCloud2.h>
 
#include <test_safety_limiter_base.h>
 
#include <gtest/gtest.h>
 
TEST_F(SafetyLimiterTest, SafetyLimitLinearSimpleSimulationWithMargin)
{
  const float dt = 0.02;
  const double ax = 2.0;  // [m/ss]
  double v = 0.0;         // [m/s]
  ros::Rate wait(1.0 / dt);
 
  const float velocities[] = {-0.8, -0.4, 0.4, 0.8};
  for (const float vel : velocities)
  {
    float x = 0;
    bool stopped = false;
    const boost::function<void(const geometry_msgs::Twist::ConstPtr&)> cb_cmd_vel =
        [dt, ax, &x, &v, &stopped](const geometry_msgs::Twist::ConstPtr& msg) -> void
    {
      if (msg->linear.x >= v)
      {
        v = std::min(v + ax * dt, msg->linear.x);
      }
      else
      {
        v = std::max(v - ax * dt, msg->linear.x);
      }
      x += dt * v;
 
      if (std::abs(v) < 1e-4 && std::abs(x) > 0.5)
      {
        stopped = true;
      }
    };
    ros::Subscriber sub_cmd_vel = nh_.subscribe("cmd_vel", 1, cb_cmd_vel);
 
    int count_after_stop = 10;
    for (float t = 0; t < 10.0 && ros::ok() && count_after_stop > 0; t += dt)
    {
      if (vel > 0)
        publishSinglePointPointcloud2(1.5 - x, 0, 0, "base_link", ros::Time::now());
      else
        publishSinglePointPointcloud2(-3.5 - x, 0, 0, "base_link", ros::Time::now());
      publishWatchdogReset();
      publishTwist(vel, 0.0);
      broadcastTF("odom", "base_link", x, 0.0);
 
      wait.sleep();
      ros::spinOnce();
      if (stopped)
      {
        count_after_stop--;
      }
    }
    // margin is set to 0.2
    if (vel > 0)
    {
      EXPECT_GT(1.4, x)
          << "vel: " << vel;  // Collision point - margin
      EXPECT_LT(1.3, x)
          << "vel: " << vel;  // Collision point - margin * 2
    }
    else
    {
      EXPECT_LT(-1.4, x)
          << "vel: " << vel;  // Collision point + margin
      EXPECT_GT(-1.3, x)
          << "vel: " << vel;  // Collision point + margin * 2
    }
    sub_cmd_vel.shutdown();
  }
}
 
int main(int argc, char** argv)
{
  testing::InitGoogleTest(&argc, argv);
  ros::init(argc, argv, "test_safety_limiter");
 
  return RUN_ALL_TESTS();
}