trajectory_tracker_test.h

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#ifndef TRAJECTORY_TRACKER_TEST_H
#define TRAJECTORY_TRACKER_TEST_H

#include <algorithm>
#include <string>
#include <vector>
#include <list>

#include <boost/thread.hpp>

#include <Eigen/Core>
#include <Eigen/Geometry>

#include <ros/ros.h>

#include <geometry_msgs/Twist.h>
#include <nav_msgs/Odometry.h>
#include <nav_msgs/Path.h>
#include <rosgraph_msgs/Clock.h>
#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
#include <tf2_ros/transform_broadcaster.h>

#include <trajectory_tracker_msgs/PathWithVelocity.h>
#include <trajectory_tracker_msgs/TrajectoryTrackerStatus.h>

#include <gtest/gtest.h>

class TrajectoryTrackerTest : public ::testing::Test
{
private:
  ros::NodeHandle nh_;
  ros::NodeHandle pnh_;
  ros::Subscriber sub_cmd_vel_;
  ros::Subscriber sub_status_;
  ros::Publisher pub_path_;
  ros::Publisher pub_path_vel_;
  ros::Publisher pub_odom_;
  tf2_ros::TransformBroadcaster tfb_;
  ros::Time cmd_vel_time_;
  ros::Time trans_stamp_last_;

  ros::Time initial_cmd_vel_time_;
  int cmd_vel_count_;

  std::list<nav_msgs::Odometry> odom_buffer_;

protected:
  std_msgs::Header last_path_header_;
  double error_lin_;
  double error_large_lin_;
  double error_ang_;

private:
  void cbStatus(const trajectory_tracker_msgs::TrajectoryTrackerStatus::ConstPtr& msg)
  {
    status_ = msg;
  }
  void cbCmdVel(const geometry_msgs::Twist::ConstPtr& msg)
  {
    const ros::Time now = ros::Time::now();
    if (cmd_vel_time_ == ros::Time(0))
      cmd_vel_time_ = now;
    const float dt = std::min((now - cmd_vel_time_).toSec(), 0.1);

    yaw_ += msg->angular.z * dt;
    pos_ += Eigen::Vector2d(std::cos(yaw_), std::sin(yaw_)) * msg->linear.x * dt;
    cmd_vel_time_ = now;
    cmd_vel_ = msg;
    ++cmd_vel_count_;
  }

public:
  Eigen::Vector2d pos_;
  double yaw_;
  trajectory_tracker_msgs::TrajectoryTrackerStatus::ConstPtr status_;
  geometry_msgs::Twist::ConstPtr cmd_vel_;
  ros::Duration delay_;

  TrajectoryTrackerTest()
    : nh_("")
    , pnh_("~")
  {
    sub_cmd_vel_ = nh_.subscribe(
        "cmd_vel", 1, &TrajectoryTrackerTest::cbCmdVel, this);
    sub_status_ = nh_.subscribe(
        "trajectory_tracker/status", 1, &TrajectoryTrackerTest::cbStatus, this);
    pub_path_ = nh_.advertise<nav_msgs::Path>("path", 1, true);
    pub_path_vel_ = nh_.advertise<trajectory_tracker_msgs::PathWithVelocity>("path_velocity", 1, true);
    pub_odom_ = nh_.advertise<nav_msgs::Odometry>("odom", 10, true);

    double delay;
    pnh_.param("odom_delay", delay, 0.0);
    delay_ = ros::Duration(delay);
    pnh_.param("error_lin", error_lin_, 0.01);
    pnh_.param("error_large_lin", error_large_lin_, 0.1);
    pnh_.param("error_ang", error_ang_, 0.01);

    ros::Rate wait(10);
    for (size_t i = 0; i < 100; ++i)
    {
      wait.sleep();
      ros::spinOnce();
      if (pub_path_.getNumSubscribers() > 0)
        break;
    }
  }
  void initState(const Eigen::Vector2d& pos, const float yaw)
  {
    // Wait trajectory_tracker node
    ros::Rate rate(10);
    const auto start = ros::WallTime::now();
    while (ros::ok())
    {
      nav_msgs::Path path;
      path.header.frame_id = "odom";
      path.header.stamp = ros::Time::now();
      pub_path_.publish(path);

      yaw_ = yaw;
      pos_ = pos;
      publishTransform();

      rate.sleep();
      ros::spinOnce();
      if (status_ &&
          status_->status != trajectory_tracker_msgs::TrajectoryTrackerStatus::FOLLOWING)
        break;
      ASSERT_LT(ros::WallTime::now(), start + ros::WallDuration(10.0))
          << "trajectory_tracker status timeout, status: "
          << (status_ ? std::to_string(static_cast<int>(status_->status)) : "none");
    }
  }
  void waitUntilStart(const std::function<void()> func = nullptr)
  {
    ros::Rate rate(50);
    const auto start = ros::WallTime::now();
    while (ros::ok())
    {
      if (func)
        func();

      publishTransform();
      rate.sleep();
      ros::spinOnce();
      if (status_ &&
          status_->status == trajectory_tracker_msgs::TrajectoryTrackerStatus::FOLLOWING)
        break;
      ASSERT_LT(ros::WallTime::now(), start + ros::WallDuration(10.0))
          << "trajectory_tracker status timeout, status: "
          << (status_ ? std::to_string(static_cast<int>(status_->status)) : "none");
    }
    initial_cmd_vel_time_ = ros::Time::now();
    cmd_vel_count_ = 0;
  }
  void publishPath(const std::vector<Eigen::Vector3d>& poses)
  {
    nav_msgs::Path path;
    path.header.frame_id = "odom";
    path.header.stamp = ros::Time::now();

    for (const Eigen::Vector3d& p : poses)
    {
      const Eigen::Quaterniond q(Eigen::AngleAxisd(p[2], Eigen::Vector3d(0, 0, 1)));

      geometry_msgs::PoseStamped pose;
      pose.header.frame_id = path.header.frame_id;
      pose.pose.position.x = p[0];
      pose.pose.position.y = p[1];
      pose.pose.orientation.x = q.x();
      pose.pose.orientation.y = q.y();
      pose.pose.orientation.z = q.z();
      pose.pose.orientation.w = q.w();

      path.poses.push_back(pose);
    }
    pub_path_.publish(path);
    last_path_header_ = path.header;
  }
  void publishPathVelocity(const std::vector<Eigen::Vector4d>& poses)
  {
    trajectory_tracker_msgs::PathWithVelocity path;
    path.header.frame_id = "odom";
    path.header.stamp = ros::Time::now();

    for (const Eigen::Vector4d& p : poses)
    {
      const Eigen::Quaterniond q(Eigen::AngleAxisd(p[2], Eigen::Vector3d(0, 0, 1)));

      trajectory_tracker_msgs::PoseStampedWithVelocity pose;
      pose.header.frame_id = path.header.frame_id;
      pose.pose.position.x = p[0];
      pose.pose.position.y = p[1];
      pose.pose.orientation.x = q.x();
      pose.pose.orientation.y = q.y();
      pose.pose.orientation.z = q.z();
      pose.pose.orientation.w = q.w();
      pose.linear_velocity.x = p[3];

      path.poses.push_back(pose);
    }
    // needs sleep to prevent that the empty path from initState arrives later.
    ros::Duration(0.5).sleep();
    pub_path_vel_.publish(path);
    last_path_header_ = path.header;
  }
  void publishTransform()
  {
    const ros::Time now = ros::Time::now();

    const Eigen::Quaterniond q(Eigen::AngleAxisd(yaw_, Eigen::Vector3d(0, 0, 1)));

    nav_msgs::Odometry odom;
    odom.header.frame_id = "odom";
    odom.header.stamp = now;
    odom.child_frame_id = "base_link";
    odom.pose.pose.position.x = pos_[0];
    odom.pose.pose.position.y = pos_[1];
    odom.pose.pose.position.z = 0.0;
    odom.pose.pose.orientation.x = q.x();
    odom.pose.pose.orientation.y = q.y();
    odom.pose.pose.orientation.z = q.z();
    odom.pose.pose.orientation.w = q.w();
    if (cmd_vel_)
    {
      odom.twist.twist.linear = cmd_vel_->linear;
      odom.twist.twist.angular = cmd_vel_->angular;
    }

    odom_buffer_.push_back(odom);

    const ros::Time pub_time = now - delay_;

    while (odom_buffer_.size() > 0)
    {
      nav_msgs::Odometry odom = odom_buffer_.front();
      if (odom.header.stamp > pub_time)
        break;

      odom_buffer_.pop_front();

      if (odom.header.stamp != trans_stamp_last_)
      {
        geometry_msgs::TransformStamped trans;
        trans.header = odom.header;
        trans.header.stamp += ros::Duration(0.1);
        trans.child_frame_id = odom.child_frame_id;
        trans.transform.translation.x = odom.pose.pose.position.x;
        trans.transform.translation.y = odom.pose.pose.position.y;
        trans.transform.rotation.x = odom.pose.pose.orientation.x;
        trans.transform.rotation.y = odom.pose.pose.orientation.y;
        trans.transform.rotation.z = odom.pose.pose.orientation.z;
        trans.transform.rotation.w = odom.pose.pose.orientation.w;

        tfb_.sendTransform(trans);
        pub_odom_.publish(odom);
      }
      trans_stamp_last_ = odom.header.stamp;
    }
  }
  double getCmdVelFrameRate() const
  {
    return cmd_vel_count_ / (cmd_vel_time_ - initial_cmd_vel_time_).toSec();
  }
};

#endif  // TRAJECTORY_TRACKER_TEST_H