-
Notifications
You must be signed in to change notification settings - Fork 91
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
trajectory_tracker: add velocity tolerance parameters (#607)
- Loading branch information
Showing
6 changed files
with
231 additions
and
9 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
134 changes: 134 additions & 0 deletions
134
trajectory_tracker/test/src/test_trajectory_tracker_overshoot.cpp
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,134 @@ | ||
| /* | ||
| * Copyright (c) 2021, the neonavigation authors | ||
| * 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 copyright holder 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. | ||
| */ | ||
|
|
||
| #include <vector> | ||
|
|
||
| #include <trajectory_tracker_test.h> | ||
| #include <trajectory_tracker/TrajectoryTrackerConfig.h> | ||
|
|
||
| #include <dynamic_reconfigure/client.h> | ||
|
|
||
| class TrajectoryTrackerOvershootTest : public TrajectoryTrackerTest | ||
| { | ||
| protected: | ||
| void runTest(const double goal_tolerance_lin_vel, const double goal_tolerance_ang_vel, | ||
| const double linear_vel, const double rotation_vel, const int32_t expected_status) | ||
| { | ||
| initState(Eigen::Vector2d(0, 0), 0); | ||
|
|
||
| std::vector<Eigen::Vector3d> poses; | ||
| for (double x = 0.0; x < 0.5; x += 0.01) | ||
| poses.push_back(Eigen::Vector3d(x, 0.0, 0.0)); | ||
| poses.push_back(Eigen::Vector3d(0.5, 0.0, 0.0)); | ||
| waitUntilStart(std::bind(&TrajectoryTrackerTest::publishPath, this, poses)); | ||
|
|
||
| ParamType param; | ||
| ASSERT_TRUE(getConfig(param)); | ||
| param.goal_tolerance_lin_vel = goal_tolerance_lin_vel; | ||
| param.goal_tolerance_ang_vel = goal_tolerance_ang_vel; | ||
| ASSERT_TRUE(setConfig(param)); | ||
|
|
||
| nav_msgs::Odometry odom; | ||
| odom.header.frame_id = "odom"; | ||
| odom.child_frame_id = "base_link"; | ||
| odom.pose.pose.position.x = 0.5; | ||
| odom.pose.pose.position.y = 0.0; | ||
| odom.pose.pose.position.z = 0.0; | ||
| odom.pose.pose.orientation.x = 0.0; | ||
| odom.pose.pose.orientation.y = 0.0; | ||
| odom.pose.pose.orientation.z = 0.0; | ||
| odom.pose.pose.orientation.w = 1.0; | ||
| odom.twist.twist.linear.x = linear_vel; | ||
| odom.twist.twist.linear.y = 0.0; | ||
| odom.twist.twist.linear.z = 0.0; | ||
| odom.twist.twist.angular.x = 0.0; | ||
| odom.twist.twist.angular.y = 0.0; | ||
| odom.twist.twist.angular.z = rotation_vel; | ||
|
|
||
| ros::Rate rate(50); | ||
| const ros::Time initial_time = ros::Time::now(); | ||
| const ros::Time time_limit = initial_time + ros::Duration(5.0); | ||
| while (ros::ok() && time_limit > ros::Time::now()) | ||
| { | ||
| odom.header.stamp = ros::Time::now(); | ||
| publishTransform(odom); | ||
| rate.sleep(); | ||
| ros::spinOnce(); | ||
| if ((status_->header.stamp > initial_time + ros::Duration(0.5)) && (status_->status == expected_status)) | ||
| { | ||
| return; | ||
| } | ||
| } | ||
| FAIL() << "Expected status: " << expected_status << " Actual status: " << status_->status; | ||
| } | ||
| }; | ||
|
|
||
| TEST_F(TrajectoryTrackerOvershootTest, NoVelocityToleranceWithRemainingLinearVel) | ||
| { | ||
| SCOPED_TRACE("NoVelocityToleranceWithRemainingLinearVel"); | ||
| runTest(0.0, 0.0, 0.1, 0.0, trajectory_tracker_msgs::TrajectoryTrackerStatus::GOAL); | ||
| } | ||
|
|
||
| TEST_F(TrajectoryTrackerOvershootTest, NoVelocityToleranceWithRemainingAngularVel) | ||
| { | ||
| SCOPED_TRACE("NoVelocityToleranceWithRemainingAngularVel"); | ||
| runTest(0.0, 0.0, 0.0, 0.1, trajectory_tracker_msgs::TrajectoryTrackerStatus::GOAL); | ||
| } | ||
|
|
||
| TEST_F(TrajectoryTrackerOvershootTest, LinearVelocityToleranceWithRemainingLinearVel) | ||
| { | ||
| SCOPED_TRACE("LinearVelocityToleranceWithRemainingLinearVel"); | ||
| runTest(0.05, 0.0, 0.1, 0.0, trajectory_tracker_msgs::TrajectoryTrackerStatus::FOLLOWING); | ||
| } | ||
|
|
||
| TEST_F(TrajectoryTrackerOvershootTest, LinearVelocityToleranceWithRemainingAngularVel) | ||
| { | ||
| SCOPED_TRACE("LinearVelocityToleranceWithRemainingAngularVel"); | ||
| runTest(0.05, 0.0, 0.0, 0.1, trajectory_tracker_msgs::TrajectoryTrackerStatus::GOAL); | ||
| } | ||
|
|
||
| TEST_F(TrajectoryTrackerOvershootTest, AngularrVelocityToleranceWithRemainingLinearVel) | ||
| { | ||
| SCOPED_TRACE("AngularrVelocityToleranceWithRemainingLinearVel"); | ||
| runTest(0.0, 0.05, 0.1, 0.0, trajectory_tracker_msgs::TrajectoryTrackerStatus::GOAL); | ||
| } | ||
|
|
||
| TEST_F(TrajectoryTrackerOvershootTest, AngularrVelocityToleranceWithRemainingAngularVel) | ||
| { | ||
| SCOPED_TRACE("AngularrVelocityToleranceWithRemainingAngularVel"); | ||
| runTest(0.0, 0.05, 0.0, 0.1, trajectory_tracker_msgs::TrajectoryTrackerStatus::FOLLOWING); | ||
| } | ||
|
|
||
| int main(int argc, char** argv) | ||
| { | ||
| testing::InitGoogleTest(&argc, argv); | ||
| ros::init(argc, argv, "test_trajectory_tracker_overshoot"); | ||
|
|
||
| return RUN_ALL_TESTS(); | ||
| } |
29 changes: 29 additions & 0 deletions
29
trajectory_tracker/test/test/trajectory_tracker_overshoot_rostest.test
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,29 @@ | ||
| <?xml version="1.0"?> | ||
| <launch> | ||
| <env name="GCOV_PREFIX" value="/tmp/gcov/trajectory_tracker_overshoot" /> | ||
|
|
||
| <param name="neonavigation_compatible" value="1" /> | ||
| <param name="use_sim_time" value="false" /> | ||
|
|
||
| <test test-name="test_trajectory_tracker_overshoot" pkg="trajectory_tracker" type="test_trajectory_tracker_overshoot" time-limit="120.0" /> | ||
|
|
||
| <node pkg="trajectory_tracker" type="trajectory_tracker" name="trajectory_tracker" output="screen"> | ||
| <param name="max_vel" value="1.0" /> | ||
| <param name="max_acc" value="2.0" /> | ||
| <param name="max_angvel" value="0.5" /> | ||
| <param name="max_angacc" value="2.0" /> | ||
| <param name="goal_tolerance_dist" value="0.01" /> | ||
| <param name="goal_tolerance_ang" value="0.0075" /> | ||
| <param name="stop_tolerance_dist" value="0.01" /> | ||
| <param name="stop_tolerance_ang" value="0.005" /> | ||
| <param name="look_forward" value="0.0" /> | ||
| <param name="k_dist" value="4.5" /> | ||
| <param name="k_ang" value="3.0" /> | ||
| <param name="k_avel" value="4.0" /> | ||
| <param name="gain_at_vel" value="1.0" /> | ||
| <param name="dist_lim" value="0.5" /> | ||
| <param name="use_odom" value="true" /> | ||
| <param name="odom_timeout_sec" value="0.1" /> | ||
| <param name="hz" value="30.0"/> | ||
| </node> | ||
| </launch> |