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