X-lanni
116 lines
3.4 KiB
C++
116 lines
3.4 KiB
C++
// Copyright (c) 2020 Sarthak Mittal
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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 <memory>
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#include <chrono>
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#include "rclcpp/rclcpp.hpp"
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#include "nav2_util/odometry_utils.hpp"
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#include "nav_msgs/msg/odometry.hpp"
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#include "geometry_msgs/msg/twist.hpp"
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#include "gtest/gtest.h"
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using namespace std::chrono; // NOLINT
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using namespace std::chrono_literals; // NOLINT
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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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TEST(OdometryUtils, test_smoothed_velocity)
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{
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auto node = std::make_shared<rclcpp::Node>("test_node");
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auto odom_pub = node->create_publisher<nav_msgs::msg::Odometry>("odom", 1);
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nav2_util::OdomSmoother odom_smoother(node, 0.3, "odom");
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nav_msgs::msg::Odometry odom_msg;
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geometry_msgs::msg::Twist twist_msg;
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auto time = node->now();
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odom_msg.header.stamp = time;
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odom_msg.twist.twist.linear.x = 1.0;
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odom_msg.twist.twist.linear.y = 1.0;
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odom_msg.twist.twist.angular.z = 1.0;
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odom_pub->publish(odom_msg);
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rclcpp::spin_some(node);
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twist_msg = odom_smoother.getTwist();
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EXPECT_EQ(twist_msg.linear.x, 1.0);
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EXPECT_EQ(twist_msg.linear.y, 1.0);
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EXPECT_EQ(twist_msg.angular.z, 1.0);
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odom_msg.header.stamp = time + rclcpp::Duration::from_seconds(0.1);
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odom_msg.twist.twist.linear.x = 2.0;
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odom_msg.twist.twist.linear.y = 2.0;
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odom_msg.twist.twist.angular.z = 2.0;
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odom_pub->publish(odom_msg);
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std::this_thread::sleep_for(100ms);
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rclcpp::spin_some(node);
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twist_msg = odom_smoother.getTwist();
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EXPECT_EQ(twist_msg.linear.x, 1.5);
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EXPECT_EQ(twist_msg.linear.y, 1.5);
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EXPECT_EQ(twist_msg.angular.z, 1.5);
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odom_msg.header.stamp = time + rclcpp::Duration::from_seconds(0.2);
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odom_msg.twist.twist.linear.x = 3.0;
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odom_msg.twist.twist.linear.y = 3.0;
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odom_msg.twist.twist.angular.z = 3.0;
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odom_pub->publish(odom_msg);
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std::this_thread::sleep_for(100ms);
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rclcpp::spin_some(node);
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twist_msg = odom_smoother.getTwist();
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EXPECT_EQ(twist_msg.linear.x, 2.0);
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EXPECT_EQ(twist_msg.linear.y, 2.0);
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EXPECT_EQ(twist_msg.angular.z, 2.0);
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odom_msg.header.stamp = time + rclcpp::Duration::from_seconds(0.45);
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odom_msg.twist.twist.linear.x = 4.0;
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odom_msg.twist.twist.linear.y = 4.0;
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odom_msg.twist.twist.angular.z = 4.0;
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odom_pub->publish(odom_msg);
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std::this_thread::sleep_for(100ms);
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rclcpp::spin_some(node);
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twist_msg = odom_smoother.getTwist();
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EXPECT_EQ(twist_msg.linear.x, 3.5);
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EXPECT_EQ(twist_msg.linear.y, 3.5);
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EXPECT_EQ(twist_msg.angular.z, 3.5);
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odom_msg.header.stamp = time + rclcpp::Duration::from_seconds(1.0);
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odom_msg.twist.twist.linear.x = 5.0;
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odom_msg.twist.twist.linear.y = 5.0;
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odom_msg.twist.twist.angular.z = 5.0;
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odom_pub->publish(odom_msg);
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std::this_thread::sleep_for(100ms);
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rclcpp::spin_some(node);
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twist_msg = odom_smoother.getTwist();
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EXPECT_EQ(twist_msg.linear.x, 5.0);
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EXPECT_EQ(twist_msg.linear.y, 5.0);
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EXPECT_EQ(twist_msg.angular.z, 5.0);
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}
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