add humble-navigation2
This commit is contained in:
X-lanni
@@ -0,0 +1,21 @@
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include_directories(${PROJECT_SOURCE_DIR}/test)
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# map_io unit test
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ament_add_gtest(test_map_io test_map_io.cpp ${PROJECT_SOURCE_DIR}/test/test_constants.cpp)
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ament_target_dependencies(test_map_io rclcpp nav_msgs)
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target_link_libraries(test_map_io
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${map_io_library_name}
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)
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# costmap_filter_info_server unit test
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ament_add_gtest(test_costmap_filter_info_server
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test_costmap_filter_info_server.cpp
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)
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ament_target_dependencies(test_costmap_filter_info_server rclcpp)
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target_link_libraries(test_costmap_filter_info_server
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${library_name}
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)
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@@ -0,0 +1,177 @@
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// Copyright (c) 2020 Samsung Research Russia
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include <gtest/gtest.h>
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#include <string>
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#include <memory>
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#include <chrono>
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#include <limits>
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#include <mutex>
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#include "rclcpp/rclcpp.hpp"
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#include "nav2_map_server/costmap_filter_info_server.hpp"
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using namespace std::chrono_literals;
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typedef std::recursive_mutex mutex_t;
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static const char FILTER_INFO_TOPIC[] = "filter_info";
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static const int TYPE = 1;
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static const char MASK_TOPIC[] = "mask";
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static const double BASE = 0.1;
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static const double MULTIPLIER = 0.2;
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static const double EPSILON = std::numeric_limits<float>::epsilon();
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class RclCppFixture
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{
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public:
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RclCppFixture() {rclcpp::init(0, nullptr);}
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~RclCppFixture() {rclcpp::shutdown();}
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};
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RclCppFixture g_rclcppfixture;
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class InfoServerWrapper : public nav2_map_server::CostmapFilterInfoServer
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{
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public:
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void start()
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{
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on_configure(get_current_state());
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on_activate(get_current_state());
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}
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void stop()
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{
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on_deactivate(get_current_state());
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on_cleanup(get_current_state());
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on_shutdown(get_current_state());
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}
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void deactivate()
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{
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on_deactivate(get_current_state());
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}
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void activate()
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{
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on_activate(get_current_state());
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}
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};
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class InfoServerTester : public ::testing::Test
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{
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public:
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InfoServerTester()
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: info_server_(nullptr), info_(nullptr), subscription_(nullptr)
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{
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access_ = new mutex_t();
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info_server_ = std::make_shared<InfoServerWrapper>();
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try {
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info_server_->set_parameter(rclcpp::Parameter("filter_info_topic", FILTER_INFO_TOPIC));
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info_server_->set_parameter(rclcpp::Parameter("type", TYPE));
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info_server_->set_parameter(rclcpp::Parameter("mask_topic", MASK_TOPIC));
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info_server_->set_parameter(rclcpp::Parameter("base", BASE));
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info_server_->set_parameter(rclcpp::Parameter("multiplier", MULTIPLIER));
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} catch (rclcpp::exceptions::ParameterNotDeclaredException & ex) {
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RCLCPP_ERROR(
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info_server_->get_logger(),
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"Error while setting parameters for CostmapFilterInfoServer: %s", ex.what());
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throw;
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}
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info_server_->start();
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subscription_ = info_server_->create_subscription<nav2_msgs::msg::CostmapFilterInfo>(
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FILTER_INFO_TOPIC, rclcpp::QoS(rclcpp::KeepLast(1)).transient_local().reliable(),
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std::bind(&InfoServerTester::infoCallback, this, std::placeholders::_1));
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}
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~InfoServerTester()
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{
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info_server_->stop();
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info_server_.reset();
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subscription_.reset();
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}
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bool isReceived()
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{
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std::lock_guard<mutex_t> guard(*getMutex());
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if (info_) {
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return true;
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} else {
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return false;
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}
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}
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mutex_t * getMutex()
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{
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return access_;
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}
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protected:
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std::shared_ptr<InfoServerWrapper> info_server_;
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nav2_msgs::msg::CostmapFilterInfo::SharedPtr info_;
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private:
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void infoCallback(const nav2_msgs::msg::CostmapFilterInfo::SharedPtr msg)
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{
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std::lock_guard<mutex_t> guard(*getMutex());
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info_ = msg;
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}
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rclcpp::Subscription<nav2_msgs::msg::CostmapFilterInfo>::SharedPtr subscription_;
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mutex_t * access_;
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};
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TEST_F(InfoServerTester, testCostmapFilterInfoPublish)
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{
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rclcpp::Time start_time = info_server_->now();
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while (!isReceived()) {
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rclcpp::spin_some(info_server_->get_node_base_interface());
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std::this_thread::sleep_for(100ms);
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// Waiting no more than 5 seconds
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ASSERT_TRUE((info_server_->now() - start_time) <= rclcpp::Duration(5000ms));
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}
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// Checking received CostmapFilterInfo for consistency
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EXPECT_EQ(info_->type, TYPE);
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EXPECT_EQ(info_->filter_mask_topic, MASK_TOPIC);
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EXPECT_NEAR(info_->base, BASE, EPSILON);
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EXPECT_NEAR(info_->multiplier, MULTIPLIER, EPSILON);
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}
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TEST_F(InfoServerTester, testCostmapFilterInfoDeactivateActivate)
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{
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info_server_->deactivate();
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info_ = nullptr;
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info_server_->activate();
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rclcpp::Time start_time = info_server_->now();
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while (!isReceived()) {
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rclcpp::spin_some(info_server_->get_node_base_interface());
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std::this_thread::sleep_for(100ms);
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// Waiting no more than 5 seconds
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ASSERT_TRUE((info_server_->now() - start_time) <= rclcpp::Duration(5000ms));
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}
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// Checking received CostmapFilterInfo for consistency
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EXPECT_EQ(info_->type, TYPE);
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EXPECT_EQ(info_->filter_mask_topic, MASK_TOPIC);
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EXPECT_NEAR(info_->base, BASE, EPSILON);
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EXPECT_NEAR(info_->multiplier, MULTIPLIER, EPSILON);
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}
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@@ -0,0 +1,340 @@
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// Copyright 2019 Rover Robotics
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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 <filesystem>
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#include <stdexcept>
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#include <string>
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#include <vector>
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#include <memory>
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#include <iostream>
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#include <fstream>
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#include "yaml-cpp/yaml.h"
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#include "nav2_map_server/map_io.hpp"
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#include "nav2_map_server/map_server.hpp"
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#include "nav2_util/lifecycle_node.hpp"
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#include "test_constants/test_constants.h"
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#define TEST_DIR TEST_DIRECTORY
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using namespace std; // NOLINT
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using namespace nav2_map_server; // NOLINT
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using std::filesystem::path;
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class RclCppFixture
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{
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public:
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RclCppFixture() {rclcpp::init(0, nullptr);}
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~RclCppFixture() {rclcpp::shutdown();}
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};
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RclCppFixture g_rclcppfixture;
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class MapIOTester : public ::testing::Test
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{
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protected:
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// Fill LoadParameters with standard for testing values
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// Input: image_file_name
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// Output: load_parameters
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void fillLoadParameters(
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const std::string & image_file_name,
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LoadParameters & load_parameters)
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{
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load_parameters.image_file_name = image_file_name;
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load_parameters.resolution = g_valid_image_res;
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load_parameters.origin = g_valid_origin;
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load_parameters.free_thresh = g_default_free_thresh;
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load_parameters.occupied_thresh = g_default_occupied_thresh;
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load_parameters.mode = MapMode::Trinary;
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load_parameters.negate = 0;
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}
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// Fill SaveParameters with standard for testing values
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// Input: map_file_name, image_format
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// Output: save_parameters
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void fillSaveParameters(
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const std::string & map_file_name,
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const std::string & image_format,
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SaveParameters & save_parameters)
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{
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save_parameters.map_file_name = map_file_name;
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save_parameters.image_format = image_format;
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save_parameters.free_thresh = g_default_free_thresh;
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save_parameters.occupied_thresh = g_default_occupied_thresh;
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save_parameters.mode = MapMode::Trinary;
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}
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// Check that map_msg corresponds to reference pattern
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// Input: map_msg
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void verifyMapMsg(const nav_msgs::msg::OccupancyGrid & map_msg)
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{
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ASSERT_FLOAT_EQ(map_msg.info.resolution, g_valid_image_res);
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ASSERT_EQ(map_msg.info.width, g_valid_image_width);
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ASSERT_EQ(map_msg.info.height, g_valid_image_height);
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for (unsigned int i = 0; i < map_msg.info.width * map_msg.info.height; i++) {
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ASSERT_EQ(g_valid_image_content[i], map_msg.data[i]);
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}
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}
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};
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// Load a valid reference PGM file. Check obtained OccupancyGrid message for consistency:
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// loaded image should match the known dimensions and content of the file.
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// Save obtained OccupancyGrid message into a tmp PGM file. Then load back saved tmp file
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// and check for consistency.
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// Succeeds all steps were passed without a problem or expection.
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TEST_F(MapIOTester, loadSaveValidPGM)
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{
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// 1. Load reference map file and verify obtained OccupancyGrid
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LoadParameters loadParameters;
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fillLoadParameters(path(TEST_DIR) / path(g_valid_pgm_file), loadParameters);
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nav_msgs::msg::OccupancyGrid map_msg;
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ASSERT_NO_THROW(loadMapFromFile(loadParameters, map_msg));
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verifyMapMsg(map_msg);
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// 2. Save OccupancyGrid into a tmp file
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SaveParameters saveParameters;
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fillSaveParameters(path(g_tmp_dir) / path(g_valid_map_name), "pgm", saveParameters);
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ASSERT_TRUE(saveMapToFile(map_msg, saveParameters));
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// 3. Load saved map and verify it
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LOAD_MAP_STATUS status = loadMapFromYaml(path(g_tmp_dir) / path(g_valid_yaml_file), map_msg);
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ASSERT_EQ(status, LOAD_MAP_SUCCESS);
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verifyMapMsg(map_msg);
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}
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// Load a valid reference PNG file. Check obtained OccupancyGrid message for consistency:
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// loaded image should match the known dimensions and content of the file.
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// Save obtained OccupancyGrid message into a tmp PNG file. Then load back saved tmp file
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// and check for consistency.
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// Succeeds all steps were passed without a problem or expection.
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TEST_F(MapIOTester, loadSaveValidPNG)
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{
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// 1. Load reference map file and verify obtained OccupancyGrid
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LoadParameters loadParameters;
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fillLoadParameters(path(TEST_DIR) / path(g_valid_png_file), loadParameters);
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nav_msgs::msg::OccupancyGrid map_msg;
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ASSERT_NO_THROW(loadMapFromFile(loadParameters, map_msg));
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verifyMapMsg(map_msg);
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// 2. Save OccupancyGrid into a tmp file
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SaveParameters saveParameters;
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fillSaveParameters(path(g_tmp_dir) / path(g_valid_map_name), "png", saveParameters);
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ASSERT_TRUE(saveMapToFile(map_msg, saveParameters));
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// 3. Load saved map and verify it
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LOAD_MAP_STATUS status = loadMapFromYaml(path(g_tmp_dir) / path(g_valid_yaml_file), map_msg);
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ASSERT_EQ(status, LOAD_MAP_SUCCESS);
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verifyMapMsg(map_msg);
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}
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// Load a valid reference BMP file. Check obtained OccupancyGrid message for consistency:
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// loaded image should match the known dimensions and content of the file.
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// Save obtained OccupancyGrid message into a tmp BMP file. Then load back saved tmp file
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// and check for consistency.
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// Succeeds all steps were passed without a problem or expection.
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TEST_F(MapIOTester, loadSaveValidBMP)
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{
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// 1. Load reference map file and verify obtained OccupancyGrid
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auto test_bmp = path(TEST_DIR) / path(g_valid_bmp_file);
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LoadParameters loadParameters;
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fillLoadParameters(test_bmp, loadParameters);
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nav_msgs::msg::OccupancyGrid map_msg;
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ASSERT_NO_THROW(loadMapFromFile(loadParameters, map_msg));
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verifyMapMsg(map_msg);
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// 2. Save OccupancyGrid into a tmp file
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SaveParameters saveParameters;
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fillSaveParameters(path(g_tmp_dir) / path(g_valid_map_name), "bmp", saveParameters);
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ASSERT_TRUE(saveMapToFile(map_msg, saveParameters));
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// 3. Load saved map and verify it
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LOAD_MAP_STATUS status = loadMapFromYaml(path(g_tmp_dir) / path(g_valid_yaml_file), map_msg);
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ASSERT_EQ(status, LOAD_MAP_SUCCESS);
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verifyMapMsg(map_msg);
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}
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||||
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// Load map from a valid file. Trying to save map with different modes.
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// Succeeds all steps were passed without a problem or expection.
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TEST_F(MapIOTester, loadSaveMapModes)
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{
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// 1. Load map from YAML file
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nav_msgs::msg::OccupancyGrid map_msg;
|
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LOAD_MAP_STATUS status = loadMapFromYaml(path(TEST_DIR) / path(g_valid_yaml_file), map_msg);
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ASSERT_EQ(status, LOAD_MAP_SUCCESS);
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// No need to check Trinary mode. This already verified in previous testcases.
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// 2. Save map in Scale mode.
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SaveParameters saveParameters;
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fillSaveParameters(path(g_tmp_dir) / path(g_valid_map_name), "png", saveParameters);
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saveParameters.mode = MapMode::Scale;
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ASSERT_TRUE(saveMapToFile(map_msg, saveParameters));
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// 3. Load saved map and verify it
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status = loadMapFromYaml(path(g_tmp_dir) / path(g_valid_yaml_file), map_msg);
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ASSERT_EQ(status, LOAD_MAP_SUCCESS);
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verifyMapMsg(map_msg);
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// 4. Save map in Raw mode.
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saveParameters.mode = MapMode::Raw;
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ASSERT_TRUE(saveMapToFile(map_msg, saveParameters));
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// 5. Load saved map and verify it
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status = loadMapFromYaml(path(g_tmp_dir) / path(g_valid_yaml_file), map_msg);
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ASSERT_EQ(status, LOAD_MAP_SUCCESS);
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verifyMapMsg(map_msg);
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}
|
||||
|
||||
// Try to load an invalid file with different ways.
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// Succeeds if all cases are got expected fail behaviours.
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TEST_F(MapIOTester, loadInvalidFile)
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{
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// 1. Trying to load incorrect map by loadMapFromFile()
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auto test_invalid = path(TEST_DIR) / path("foo");
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||||
|
||||
LoadParameters loadParameters;
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||||
fillLoadParameters(test_invalid, loadParameters);
|
||||
|
||||
nav_msgs::msg::OccupancyGrid map_msg;
|
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ASSERT_ANY_THROW(loadMapFromFile(loadParameters, map_msg));
|
||||
|
||||
// 2. Trying to load incorrect map by loadMapFromYaml()
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LOAD_MAP_STATUS status = loadMapFromYaml("", map_msg);
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ASSERT_EQ(status, MAP_DOES_NOT_EXIST);
|
||||
|
||||
status = loadMapFromYaml(std::string(test_invalid) + ".yaml", map_msg);
|
||||
ASSERT_EQ(status, INVALID_MAP_METADATA);
|
||||
}
|
||||
|
||||
// Load map from a valid file. Trying to save map with different sets of parameters.
|
||||
// Succeeds if all cases got expected behaviours.
|
||||
TEST_F(MapIOTester, saveInvalidParameters)
|
||||
{
|
||||
// 1. Load map from YAML file
|
||||
nav_msgs::msg::OccupancyGrid map_msg;
|
||||
LOAD_MAP_STATUS status = loadMapFromYaml(path(TEST_DIR) / path(g_valid_yaml_file), map_msg);
|
||||
ASSERT_EQ(status, LOAD_MAP_SUCCESS);
|
||||
|
||||
// 2. Trying to save map with different sets of parameters
|
||||
SaveParameters saveParameters;
|
||||
|
||||
saveParameters.map_file_name = path(g_tmp_dir) / path(g_valid_map_name);
|
||||
saveParameters.image_format = "";
|
||||
saveParameters.free_thresh = 2.0;
|
||||
saveParameters.occupied_thresh = 2.0;
|
||||
saveParameters.mode = MapMode::Trinary;
|
||||
ASSERT_FALSE(saveMapToFile(map_msg, saveParameters));
|
||||
|
||||
saveParameters.free_thresh = -2.0;
|
||||
saveParameters.occupied_thresh = -2.0;
|
||||
ASSERT_FALSE(saveMapToFile(map_msg, saveParameters));
|
||||
|
||||
saveParameters.free_thresh = 0.7;
|
||||
saveParameters.occupied_thresh = 0.2;
|
||||
ASSERT_FALSE(saveMapToFile(map_msg, saveParameters));
|
||||
|
||||
saveParameters.free_thresh = 0.0;
|
||||
saveParameters.occupied_thresh = 0.0;
|
||||
ASSERT_TRUE(saveMapToFile(map_msg, saveParameters));
|
||||
|
||||
saveParameters.map_file_name = path("/invalid_path") / path(g_valid_map_name);
|
||||
ASSERT_FALSE(saveMapToFile(map_msg, saveParameters));
|
||||
}
|
||||
|
||||
// Load valid YAML file and check for consistency
|
||||
TEST_F(MapIOTester, loadValidYAML)
|
||||
{
|
||||
LoadParameters loadParameters;
|
||||
ASSERT_NO_THROW(loadParameters = loadMapYaml(path(TEST_DIR) / path(g_valid_yaml_file)));
|
||||
|
||||
LoadParameters refLoadParameters;
|
||||
fillLoadParameters(path(TEST_DIR) / path(g_valid_png_file), refLoadParameters);
|
||||
ASSERT_EQ(loadParameters.image_file_name, refLoadParameters.image_file_name);
|
||||
ASSERT_FLOAT_EQ(loadParameters.resolution, refLoadParameters.resolution);
|
||||
ASSERT_EQ(loadParameters.origin, refLoadParameters.origin);
|
||||
ASSERT_FLOAT_EQ(loadParameters.free_thresh, refLoadParameters.free_thresh);
|
||||
ASSERT_FLOAT_EQ(loadParameters.occupied_thresh, refLoadParameters.occupied_thresh);
|
||||
ASSERT_EQ(loadParameters.mode, refLoadParameters.mode);
|
||||
ASSERT_EQ(loadParameters.negate, refLoadParameters.negate);
|
||||
}
|
||||
|
||||
// Try to load invalid YAML file
|
||||
TEST_F(MapIOTester, loadInvalidYAML)
|
||||
{
|
||||
LoadParameters loadParameters;
|
||||
ASSERT_ANY_THROW(loadParameters = loadMapYaml(path(TEST_DIR) / path("invalid_file.yaml")));
|
||||
}
|
||||
|
||||
TEST(HomeUserExpanderTestSuite, homeUserExpanderShouldNotChangeInputStringWhenShorterThanTwo)
|
||||
{
|
||||
const std::string emptyFileName{};
|
||||
ASSERT_EQ(emptyFileName, expand_user_home_dir_if_needed(emptyFileName, "/home/user"));
|
||||
}
|
||||
|
||||
TEST(
|
||||
HomeUserExpanderTestSuite,
|
||||
homeUserExpanderShouldNotChangeInputStringWhenInputStringDoesNotStartWithHomeSequence)
|
||||
{
|
||||
const std::string fileName{"valid_file.yaml"};
|
||||
ASSERT_EQ(fileName, expand_user_home_dir_if_needed(fileName, "/home/user"));
|
||||
}
|
||||
|
||||
TEST(HomeUserExpanderTestSuite, homeUserExpanderShouldNotChangeInputStringWhenHomeVariableNotFound)
|
||||
{
|
||||
const std::string fileName{"~/valid_file.yaml"};
|
||||
ASSERT_EQ(fileName, expand_user_home_dir_if_needed(fileName, ""));
|
||||
}
|
||||
|
||||
TEST(HomeUserExpanderTestSuite, homeUserExpanderShouldExpandHomeSequenceWhenHomeVariableSet)
|
||||
{
|
||||
const std::string fileName{"~/valid_file.yaml"};
|
||||
const std::string expectedOutputFileName{"/home/user/valid_file.yaml"};
|
||||
ASSERT_EQ(expectedOutputFileName, expand_user_home_dir_if_needed(fileName, "/home/user"));
|
||||
}
|
||||
Reference in New Issue
Block a user