add humble-navigation2

2025-05-27 19:03:40 +08:00
parent 974abb5e1e
commit e74ec539c2
1280 changed files with 204114 additions and 0 deletions
@@ -0,0 +1,115 @@
+// Copyright (c) 2020 Sarthak Mittal
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <memory>
+#include <chrono>
+
+#include "rclcpp/rclcpp.hpp"
+#include "nav2_util/odometry_utils.hpp"
+#include "nav_msgs/msg/odometry.hpp"
+#include "geometry_msgs/msg/twist.hpp"
+#include "gtest/gtest.h"
+
+using namespace std::chrono;  // NOLINT
+using namespace std::chrono_literals;  // NOLINT
+
+class RclCppFixture
+{
+public:
+  RclCppFixture() {rclcpp::init(0, nullptr);}
+  ~RclCppFixture() {rclcpp::shutdown();}
+};
+RclCppFixture g_rclcppfixture;
+
+TEST(OdometryUtils, test_smoothed_velocity)
+{
+  auto node = std::make_shared<rclcpp::Node>("test_node");
+  auto odom_pub = node->create_publisher<nav_msgs::msg::Odometry>("odom", 1);
+
+  nav2_util::OdomSmoother odom_smoother(node, 0.3, "odom");
+
+  nav_msgs::msg::Odometry odom_msg;
+  geometry_msgs::msg::Twist twist_msg;
+
+  auto time = node->now();
+
+  odom_msg.header.stamp = time;
+  odom_msg.twist.twist.linear.x = 1.0;
+  odom_msg.twist.twist.linear.y = 1.0;
+  odom_msg.twist.twist.angular.z = 1.0;
+
+  odom_pub->publish(odom_msg);
+  rclcpp::spin_some(node);
+
+  twist_msg = odom_smoother.getTwist();
+  EXPECT_EQ(twist_msg.linear.x, 1.0);
+  EXPECT_EQ(twist_msg.linear.y, 1.0);
+  EXPECT_EQ(twist_msg.angular.z, 1.0);
+
+  odom_msg.header.stamp = time + rclcpp::Duration::from_seconds(0.1);
+  odom_msg.twist.twist.linear.x = 2.0;
+  odom_msg.twist.twist.linear.y = 2.0;
+  odom_msg.twist.twist.angular.z = 2.0;
+  odom_pub->publish(odom_msg);
+
+  std::this_thread::sleep_for(100ms);
+  rclcpp::spin_some(node);
+
+  twist_msg = odom_smoother.getTwist();
+  EXPECT_EQ(twist_msg.linear.x, 1.5);
+  EXPECT_EQ(twist_msg.linear.y, 1.5);
+  EXPECT_EQ(twist_msg.angular.z, 1.5);
+
+  odom_msg.header.stamp = time + rclcpp::Duration::from_seconds(0.2);
+  odom_msg.twist.twist.linear.x = 3.0;
+  odom_msg.twist.twist.linear.y = 3.0;
+  odom_msg.twist.twist.angular.z = 3.0;
+  odom_pub->publish(odom_msg);
+
+  std::this_thread::sleep_for(100ms);
+  rclcpp::spin_some(node);
+
+  twist_msg = odom_smoother.getTwist();
+  EXPECT_EQ(twist_msg.linear.x, 2.0);
+  EXPECT_EQ(twist_msg.linear.y, 2.0);
+  EXPECT_EQ(twist_msg.angular.z, 2.0);
+
+  odom_msg.header.stamp = time + rclcpp::Duration::from_seconds(0.45);
+  odom_msg.twist.twist.linear.x = 4.0;
+  odom_msg.twist.twist.linear.y = 4.0;
+  odom_msg.twist.twist.angular.z = 4.0;
+  odom_pub->publish(odom_msg);
+
+  std::this_thread::sleep_for(100ms);
+  rclcpp::spin_some(node);
+
+  twist_msg = odom_smoother.getTwist();
+  EXPECT_EQ(twist_msg.linear.x, 3.5);
+  EXPECT_EQ(twist_msg.linear.y, 3.5);
+  EXPECT_EQ(twist_msg.angular.z, 3.5);
+
+  odom_msg.header.stamp = time + rclcpp::Duration::from_seconds(1.0);
+  odom_msg.twist.twist.linear.x = 5.0;
+  odom_msg.twist.twist.linear.y = 5.0;
+  odom_msg.twist.twist.angular.z = 5.0;
+  odom_pub->publish(odom_msg);
+
+  std::this_thread::sleep_for(100ms);
+  rclcpp::spin_some(node);
+
+  twist_msg = odom_smoother.getTwist();
+  EXPECT_EQ(twist_msg.linear.x, 5.0);
+  EXPECT_EQ(twist_msg.linear.y, 5.0);
+  EXPECT_EQ(twist_msg.angular.z, 5.0);
+}