test_tolerant_action.cpp

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#include <limits>
#include <memory>
#include <string>

#include <gtest/gtest.h>

#include <actionlib/client/simple_action_client.h>
#include <move_base_msgs/MoveBaseAction.h>
#include <planner_cspace_msgs/MoveWithToleranceAction.h>
#include <planner_cspace_msgs/PlannerStatus.h>
#include <tf2_ros/transform_listener.h>

#include <ros/ros.h>

#include <planner_cspace/action_test_base.h>

class TolerantActionTest
  : public ActionTestBase<planner_cspace_msgs::MoveWithToleranceAction, ACTION_TOPIC_TOLERANT_MOVE>
{
protected:
  planner_cspace_msgs::MoveWithToleranceGoal createGoalInFree()
  {
    planner_cspace_msgs::MoveWithToleranceGoal goal;
    goal.target_pose.header.stamp = ros::Time::now();
    goal.target_pose.header.frame_id = "map";
    goal.target_pose.pose.position.x = 2.1;
    goal.target_pose.pose.position.y = 0.45;
    goal.target_pose.pose.position.z = 0.0;
    goal.target_pose.pose.orientation.x = 0.0;
    goal.target_pose.pose.orientation.y = 0.0;
    goal.target_pose.pose.orientation.z = 1.0;
    goal.target_pose.pose.orientation.w = 0.0;
    goal.continuous_movement_mode = true;
    goal.goal_tolerance_ang = 0.1;
    goal.goal_tolerance_ang_finish = 0.05;
    goal.goal_tolerance_lin = 0.2;
    return goal;
  }

  double getDistBetweenRobotAndGoal(const planner_cspace_msgs::MoveWithToleranceGoal& goal)
  {
    try
    {
      const geometry_msgs::TransformStamped map_to_robot =
          tfbuf_.lookupTransform("map", "base_link", ros::Time(), ros::Duration(0.1));
      return std::hypot(map_to_robot.transform.translation.x - goal.target_pose.pose.position.x,
                        map_to_robot.transform.translation.y - goal.target_pose.pose.position.y);
    }
    catch (std::exception&)
    {
      return std::numeric_limits<double>::max();
    }
  }
};

TEST_F(TolerantActionTest, GoalWithTolerance)
{
  const ros::Time deadline = ros::Time::now() + ros::Duration(10);
  const ros::Duration wait(1.0);

  // Assure that goal is received after map in planner_3d.
  ros::Duration(0.5).sleep();
  const planner_cspace_msgs::MoveWithToleranceGoal goal = createGoalInFree();
  move_base_->sendGoal(goal);

  while (ros::ok() && move_base_->getState().state_ != actionlib::SimpleClientGoalState::ACTIVE)
  {
    ASSERT_LT(ros::Time::now(), deadline)
        << "Action didn't get active: " << move_base_->getState().toString()
        << " " << statusString();
    ros::spinOnce();
  }

  while (ros::ok() && move_base_->getState().state_ != actionlib::SimpleClientGoalState::SUCCEEDED)
  {
    ASSERT_LT(ros::Time::now(), deadline)
        << "Action didn't succeeded: " << move_base_->getState().toString()
        << " " << statusString();
    ros::spinOnce();
  }

  const double dist_to_goal = getDistBetweenRobotAndGoal(goal);
  // distance_remains is less than updated goal_tolerance_lin (set in planner_cspace_msgs::MoveWithToleranceGoal).
  EXPECT_LT(dist_to_goal, goal.goal_tolerance_lin);
  // distance_remains is greater than default goal_tolerance_lin (set in actionlib_common_rostest.test).
  EXPECT_GT(dist_to_goal, 0.05);
  // Navigation still continues after ActionClient succeeded.
  EXPECT_EQ(planner_status_->status, planner_cspace_msgs::PlannerStatus::DOING);

  while (ros::ok() && planner_status_->status != planner_cspace_msgs::PlannerStatus::DONE)
  {
    ASSERT_LT(ros::Time::now(), deadline)
        << "Navigation didn't finished: " << move_base_->getState().toString()
        << " " << statusString();
    ros::spinOnce();
  }
  EXPECT_LT(getDistBetweenRobotAndGoal(goal), 0.05);
}

int main(int argc, char** argv)
{
  testing::InitGoogleTest(&argc, argv);
  ros::init(argc, argv, "test_tolerant_action");
  return RUN_ALL_TESTS();
}