git commit -m "first commit for v2"
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Localizations/Libraries/Ros/map_server/test/rtest.cpp
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Localizations/Libraries/Ros/map_server/test/rtest.cpp
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/*
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* Copyright (c) 2008, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* * Neither the name of the Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived from
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* this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*/
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/* Author: Brian Gerkey */
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#include <gtest/gtest.h>
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#include <ros/service.h>
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#include <ros/ros.h>
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#include <ros/package.h>
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#include <nav_msgs/GetMap.h>
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#include <nav_msgs/OccupancyGrid.h>
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#include <nav_msgs/MapMetaData.h>
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#include <nav_msgs/LoadMap.h>
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#include "test_constants.h"
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int g_argc;
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char** g_argv;
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class MapClientTest : public testing::Test
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{
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public:
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// A node is needed to make a service call
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ros::NodeHandle* n_;
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MapClientTest()
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{
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ros::init(g_argc, g_argv, "map_client_test");
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n_ = new ros::NodeHandle();
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got_map_ = false;
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got_map_metadata_ = false;
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}
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~MapClientTest()
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{
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delete n_;
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}
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bool got_map_;
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boost::shared_ptr<nav_msgs::OccupancyGrid const> map_;
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void mapCallback(const boost::shared_ptr<nav_msgs::OccupancyGrid const>& map)
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{
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map_ = map;
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got_map_ = true;
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}
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bool got_map_metadata_;
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boost::shared_ptr<nav_msgs::MapMetaData const> map_metadata_;
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void mapMetaDataCallback(const boost::shared_ptr<nav_msgs::MapMetaData const>& map_metadata)
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{
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map_metadata_ = map_metadata;
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got_map_metadata_ = true;
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}
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};
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/* Try to retrieve the map via service, and compare to ground truth */
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TEST_F(MapClientTest, call_service)
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{
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nav_msgs::GetMap::Request req;
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nav_msgs::GetMap::Response resp;
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ASSERT_TRUE(ros::service::waitForService("static_map", 5000));
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ASSERT_TRUE(ros::service::call("static_map", req, resp));
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ASSERT_FLOAT_EQ(resp.map.info.resolution, g_valid_image_res);
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ASSERT_EQ(resp.map.info.width, g_valid_image_width);
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ASSERT_EQ(resp.map.info.height, g_valid_image_height);
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ASSERT_STREQ(resp.map.header.frame_id.c_str(), "map");
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for(unsigned int i=0; i < resp.map.info.width * resp.map.info.height; i++)
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ASSERT_EQ(g_valid_image_content[i], resp.map.data[i]);
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}
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/* Try to retrieve the map via topic, and compare to ground truth */
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TEST_F(MapClientTest, subscribe_topic)
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{
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ros::Subscriber sub = n_->subscribe<nav_msgs::OccupancyGrid>("map", 1, [this](auto& map){ mapCallback(map); });
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// Try a few times, because the server may not be up yet.
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int i=20;
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while(!got_map_ && i > 0)
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{
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ros::spinOnce();
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ros::Duration d = ros::Duration().fromSec(0.25);
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d.sleep();
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i--;
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}
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ASSERT_TRUE(got_map_);
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ASSERT_FLOAT_EQ(map_->info.resolution, g_valid_image_res);
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ASSERT_EQ(map_->info.width, g_valid_image_width);
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ASSERT_EQ(map_->info.height, g_valid_image_height);
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ASSERT_STREQ(map_->header.frame_id.c_str(), "map");
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for(unsigned int i=0; i < map_->info.width * map_->info.height; i++)
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ASSERT_EQ(g_valid_image_content[i], map_->data[i]);
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}
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/* Try to retrieve the metadata via topic, and compare to ground truth */
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TEST_F(MapClientTest, subscribe_topic_metadata)
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{
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ros::Subscriber sub = n_->subscribe<nav_msgs::MapMetaData>("map_metadata", 1, [this](auto& map_metadata){ mapMetaDataCallback(map_metadata); });
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// Try a few times, because the server may not be up yet.
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int i=20;
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while(!got_map_metadata_ && i > 0)
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{
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ros::spinOnce();
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ros::Duration d = ros::Duration().fromSec(0.25);
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d.sleep();
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i--;
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}
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ASSERT_TRUE(got_map_metadata_);
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ASSERT_FLOAT_EQ(map_metadata_->resolution, g_valid_image_res);
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ASSERT_EQ(map_metadata_->width, g_valid_image_width);
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ASSERT_EQ(map_metadata_->height, g_valid_image_height);
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}
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/* Change the map, retrieve the map via topic, and compare to ground truth */
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TEST_F(MapClientTest, change_map)
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{
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ros::Subscriber sub = n_->subscribe<nav_msgs::OccupancyGrid>("map", 1, [this](auto& map){ mapCallback(map); });
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// Try a few times, because the server may not be up yet.
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for (int i = 20; i > 0 && !got_map_; i--)
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{
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ros::spinOnce();
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ros::Duration d = ros::Duration().fromSec(0.25);
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d.sleep();
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}
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ASSERT_TRUE(got_map_);
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// Now change the map
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got_map_ = false;
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nav_msgs::LoadMap::Request req;
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nav_msgs::LoadMap::Response resp;
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req.map_url = ros::package::getPath("map_server") + "/test/testmap2.yaml";
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ASSERT_TRUE(ros::service::waitForService("change_map", 5000));
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ASSERT_TRUE(ros::service::call("change_map", req, resp));
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ASSERT_EQ(0u, resp.result);
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for (int i = 20; i > 0 && !got_map_; i--)
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{
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ros::spinOnce();
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ros::Duration d = ros::Duration().fromSec(0.25);
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d.sleep();
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}
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ASSERT_FLOAT_EQ(tmap2::g_valid_image_res, map_->info.resolution);
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ASSERT_EQ(tmap2::g_valid_image_width, map_->info.width);
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ASSERT_EQ(tmap2::g_valid_image_height, map_->info.height);
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ASSERT_STREQ("map", map_->header.frame_id.c_str());
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for(unsigned int i=0; i < map_->info.width * map_->info.height; i++)
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ASSERT_EQ(tmap2::g_valid_image_content[i], map_->data[i]) << "idx:" << i;
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//Put the old map back so the next test isn't broken
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got_map_ = false;
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req.map_url = ros::package::getPath("map_server") + "/test/testmap.yaml";
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ASSERT_TRUE(ros::service::call("change_map", req, resp));
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ASSERT_EQ(0u, resp.result);
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for (int i = 20; i > 0 && !got_map_; i--)
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{
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ros::spinOnce();
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ros::Duration d = ros::Duration().fromSec(0.25);
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d.sleep();
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}
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ASSERT_TRUE(got_map_);
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}
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int main(int argc, char **argv)
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{
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testing::InitGoogleTest(&argc, argv);
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g_argc = argc;
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g_argv = argv;
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return RUN_ALL_TESTS();
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}
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