rtest.cpp
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00001 /*
00002  * Copyright (c) 2008, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 /* Author: Brian Gerkey */
00031 
00032 #include <gtest/gtest.h>
00033 #include <ros/service.h>
00034 #include <ros/ros.h>
00035 #include <nav_msgs/GetMap.h>
00036 #include <nav_msgs/OccupancyGrid.h>
00037 #include <nav_msgs/MapMetaData.h>
00038 
00039 
00040 ros::NodeHandle* g_n=NULL;
00041 double g_res, g_width, g_height, g_min_free_ratio, g_max_free_ratio;
00042 
00043 class MapClientTest : public testing::Test
00044 {
00045   public:
00046     MapClientTest()
00047     {
00048       got_map_ = false;
00049       got_map_metadata_ = false;
00050     }
00051 
00052     ~MapClientTest()
00053     {
00054     }
00055 
00056     bool got_map_;
00057     boost::shared_ptr<nav_msgs::OccupancyGrid const> map_;
00058     void mapCallback(const boost::shared_ptr<nav_msgs::OccupancyGrid const>& map)
00059     {
00060       map_ = map;
00061       got_map_ = true;
00062     }
00063 
00064     bool got_map_metadata_;
00065     boost::shared_ptr<nav_msgs::MapMetaData const> map_metadata_;
00066     void mapMetaDataCallback(const boost::shared_ptr<nav_msgs::MapMetaData const>& map_metadata)
00067     {
00068       map_metadata_ = map_metadata;
00069       got_map_metadata_ = true;
00070     }
00071 
00072     void checkMapMetaData(const nav_msgs::MapMetaData& map_metadata)
00073     {
00074       EXPECT_FLOAT_EQ(map_metadata.resolution, g_res);
00075       EXPECT_FLOAT_EQ(map_metadata.width, g_width);
00076       EXPECT_FLOAT_EQ(map_metadata.height, g_height);
00077     }
00078 
00079     void checkMapData(const nav_msgs::OccupancyGrid& map)
00080     {
00081       unsigned int i;
00082       unsigned int free_cnt = 0;
00083       for(i=0; i < map.info.width * map.info.height; i++)
00084       {
00085         if(map.data[i] == 0)
00086           free_cnt++;
00087       }
00088       double free_ratio = free_cnt / (double)(i);
00089       ROS_INFO("Min / ratio / Max free ratio: %f / %f / %f", g_min_free_ratio, free_ratio, g_max_free_ratio);
00090       EXPECT_GE(free_ratio, g_min_free_ratio);
00091       EXPECT_LE(free_ratio, g_max_free_ratio);
00092     }
00093 };
00094 
00095 /* Try to retrieve the map via service, and compare to ground truth */
00096 TEST_F(MapClientTest, call_service)
00097 {
00098   nav_msgs::GetMap::Request  req;
00099   nav_msgs::GetMap::Response resp;
00100   ASSERT_TRUE(ros::service::waitForService("dynamic_map", 5000));
00101   ASSERT_TRUE(ros::service::call("dynamic_map", req, resp));
00102   checkMapMetaData(resp.map.info);
00103   checkMapData(resp.map);
00104 }
00105 
00106 /* Try to retrieve the map via topic, and compare to ground truth */
00107 TEST_F(MapClientTest, subscribe_topic)
00108 {
00109   ros::Subscriber sub = g_n->subscribe<nav_msgs::OccupancyGrid>("map", 1, boost::bind(&MapClientTest::mapCallback, this, _1));
00110 
00111   // Try a few times, because the server may not be up yet.
00112   int i=20;
00113   while(!got_map_ && i > 0)
00114   {
00115     ros::spinOnce();
00116     ros::WallDuration d(0.25);
00117     d.sleep();
00118     i--;
00119   }
00120   ASSERT_TRUE(got_map_);
00121   checkMapMetaData(map_->info);
00122   checkMapData(*(map_.get()));
00123 }
00124 
00125 /* Try to retrieve the metadata via topic, and compare to ground truth */
00126 TEST_F(MapClientTest, subscribe_topic_metadata)
00127 {
00128   ros::Subscriber sub = g_n->subscribe<nav_msgs::MapMetaData>("map_metadata", 1, boost::bind(&MapClientTest::mapMetaDataCallback, this, _1));
00129 
00130   // Try a few times, because the server may not be up yet.
00131   int i=20;
00132   while(!got_map_metadata_ && i > 0)
00133   {
00134     ros::spinOnce();
00135     ros::WallDuration d(0.25);
00136     d.sleep();
00137     i--;
00138   }
00139   ASSERT_TRUE(got_map_metadata_);
00140   checkMapMetaData(*(map_metadata_.get()));
00141 }
00142 
00143 int main(int argc, char **argv)
00144 {
00145   testing::InitGoogleTest(&argc, argv);
00146 
00147   ros::init(argc, argv, "map_client_test");
00148   g_n = new ros::NodeHandle();
00149 
00150   // Required args are, in order:
00151   //   <delay> <resolution> <width> <height> <min_free_ratio> <max_free_ratio>
00152   ROS_ASSERT(argc == 7);
00153   ros::Duration delay = ros::Duration(atof(argv[1]));
00154   g_res = atof(argv[2]);
00155   g_width = atof(argv[3]);
00156   g_height = atof(argv[4]);
00157   g_min_free_ratio = atof(argv[5]);
00158   g_max_free_ratio = atof(argv[6]);
00159 
00160   while(ros::Time::now().toSec() == 0.0)
00161   {
00162     ROS_INFO("Waiting for initial time publication");
00163     ros::Duration(0.25).sleep();
00164     ros::spinOnce();
00165   }
00166   ros::Time start_time = ros::Time::now();
00167   while((ros::Time::now() - start_time) < delay)
00168   {
00169     ROS_INFO("Waiting for delay expiration (%.3f - %.3f) < %.3f",
00170              ros::Time::now().toSec(),
00171              start_time.toSec(),
00172              delay.toSec());
00173     ros::Duration(0.25).sleep();
00174     ros::spinOnce();
00175   }
00176 
00177   int result = RUN_ALL_TESTS();
00178   delete g_n;
00179   return result;
00180 }


gmapping
Author(s): Brian Gerkey
autogenerated on Sat Jun 8 2019 19:40:33