Huge commit adding fully working integration test

CMakeLists.txt

@@ -59,6 +59,7 @@ catkin_install_python(PROGRAMS
   scripts/start_talos_gazebo_kine.py
   scripts/start_sot_talos_balance.py
   scripts/start_sot_online_walking.py
+  scripts/start_sot_ouster_walking.py
   scripts/test_kine.py
   scripts/test_sot_talos_balance.py
   scripts/test_online_walking.py
@@ -77,5 +78,6 @@ if(CATKIN_ENABLE_TESTING)
   find_package(rostest REQUIRED)
   add_rostest(tests/test_kine.test)
   add_rostest(tests/test_sot_talos_balance.test)
-  add_rostest(tests/test_online_walking.test)  
+  add_rostest(tests/test_online_walking.test)
+  add_rostest(tests/test_ouster_walking.test)  
 endif()

README.md

@@ -24,6 +24,14 @@ Preparing your environment variables:
 source ./test_ws/install/setup.bash
 source $HOME/bin/setup-opt-robotpkg.sh
 ```
+If your installation uses the binaries, you will need to install the following packages, on top of the required `robotpkg-sot-core-v3` and `robotpkg-py27-talos-dev`:
+```
+sudo apt install robotpkg-talos-simulation robotpkg-talos-metapkg-ros-control-sot robotpkg-py27-sot-talos-balance robotpkg-py27-sot-pattern-generator-v3 robotpkg-ros-ouster-gazebo-simulation
+```
+
+The test using mapping and lidar still depend on the following packages, not yet integrated to robotpkg:
+* [aicp_mapping](https://github.com/Gepetto/aicp_mapping), the mapping algorithm
+* [talos-bauzil](https://gitlab.laas.fr/tlasguigne/talos-bauzil), the simulation of the room used for tests (to be ported on github)
 
 # First integration tests
 
@@ -45,7 +53,7 @@ To launch:
 ```
 rostest talos_integration_tests test_sot_talos_balance.test
 ```
-The robot is supposed to walk forward 2.8 m and reached position [2.8331,0.0405,1.0019]
+The robot is supposed to walk forward 2.8 m and reach position [2.8331,0.0405,1.0019]
 
 There is a you tube video showing what to expect:
 
@@ -57,7 +65,14 @@ To launch:
 ```
 rostest talos_integration_tests test_online_walking.test
 ```
-The robot is supposed to walk forward 2.8 m and reached position [2.12,0.012,1.00]
+The robot is supposed to walk forward 2.8 m and reach position [2.12,0.012,1.00]
+
+## Real time on-line walking while mapping using a lidar
+
+To launch:
+```
+rostest talos_integration_tests test_ouster_walking.test
+```
 
 
 # Docker

launch/talos_spawn_hs_ouster.launch

@@ -0,0 +1,29 @@
+<?xml version="1.0" encoding="UTF-8"?>
+
+<launch>
+  <arg name="robot"  default="full_v2"/>
+  <arg name="left_leg_pose" default="-J leg_left_1_joint 0.0 -J leg_left_2_joint 0.0 -J leg_left_3_joint -0.411354 -J leg_left_4_joint 0.859395 -J leg_left_5_joint -0.448041 -J leg_left_6_joint -0.001708"/>
+  <arg name="right_leg_pose" default="-J leg_right_1_joint 0.0 -J leg_right_2_joint 0.0 -J leg_right_3_joint -0.411354 -J leg_right_4_joint 0.859395 -J leg_right_5_joint -0.448041 -J leg_right_6_joint -0.001708"/>
+  <arg name="left_arm_pose" default="-J arm_left_1_joint 0.25847 -J arm_left_2_joint 0.173046 -J arm_left_3_joint -0.0002 -J arm_left_4_joint -0.525366 -J arm_left_5_joint 0.0 -J arm_left_6_joint 0.0 -J arm_left_7_joint 0.1"/>
+  <arg name="right_arm_pose" default="-J arm_right_1_joint -0.25847 -J arm_right_2_joint -0.173046 -J arm_left_3_joint 0.0002 -J arm_right_4_joint -0.525366 -J arm_right_5_joint 0.0 -J arm_right_6_joint 0.0 -J arm_right_7_joint 0.1"/>
+  <arg name="torso_pose" default="-J torso_1_joint 0.0 -J torso_2_joint 0.006761"/>
+  <arg name="gzpose" default="-x -2.5 -y -1.5 -z 1.02 -R 0.0 -P 0.0 -Y 0.0 $(arg left_leg_pose) $(arg right_leg_pose) $(arg left_arm_pose) $(arg right_arm_pose) $(arg torso_pose) " />
+
+
+  <!-- PAL Hardware gazebo config -->
+  <include file="$(find talos_controller_configuration)/launch/selective_rosparam_loader.launch">
+    <arg name="robot" value="$(arg robot)" />
+    <arg name="prefix" value="$(find talos_hardware_gazebo)/config/sensors/" />
+  </include>
+
+
+  <!-- PID gains -->
+  <rosparam command="load" file="$(find talos_data)/config/pids_stiff.yaml"/>
+
+  <!-- Spawn robot in Gazebo -->
+  <node pkg="gazebo_ros" type="spawn_model" name="spawn_model"
+    args="-urdf -param robot_description $(arg gzpose) -model talos" />
+
+  <node ns="/rgbd/rgb/high_res" pkg="image_proc" type="image_proc" name="image_proc_high_res"/>
+  <node ns="/rgbd/rgb" pkg="image_proc" type="image_proc" name="image_proc"/>
+</launch>

package.xml

@@ -25,5 +25,6 @@
   <run_depend>talos_gazebo</run_depend>
   <run_depend>roscontrol_sot_talos</run_depend>
   <run_depend>dynamic_graph_bridge_msgs</run_depend>
-
+  <run_depend>sot-pattern-generator</run_depend>
+  <run_depend>talos_bauzil</run_depend>
 </package>

scripts/start_sot_online_walking.py

@@ -143,7 +143,10 @@ def runTest(self):
                 print("Stop roscore")
                 roscore.terminate()
 
-            r.sleep()
+            try:
+                r.sleep()
+            except rospy.ROSInterruptException:
+                rospy.logwarn("Exiting test")
 
 if __name__ == '__main__':
     import rosunit

scripts/start_sot_ouster_walking.py

@@ -0,0 +1,203 @@
+#!/usr/bin/env python
+# O. Stasse 17/01/2020
+# LAAS, CNRS
+# from package robotpkg-talos-data
+# Modified by H. Lefevre 02/07/2020
+# LAAS, CNRS
+
+import os
+import rospy
+import time
+import roslaunch
+import rospkg
+import unittest
+import math
+
+from gazebo_msgs.srv import *
+
+from std_srvs.srv import Empty
+
+PKG_NAME='talos_integration_tests'
+
+class TestSoTTalos(unittest.TestCase):
+
+    def validation_through_gazebo(self):
+        gzGetModelPropReq = rospy.ServiceProxy('/gazebo/get_model_state',
+                                               GetModelState)
+        gzGetModelPropResp = gzGetModelPropReq(model_name='talos')
+        f=open("/tmp/output.dat","w+")
+        f.write("x:"+str(gzGetModelPropResp.pose.position.x)+"\n")
+        f.write("y:"+str(gzGetModelPropResp.pose.position.y)+"\n")
+        f.write("z:"+str(gzGetModelPropResp.pose.position.z)+"\n")
+        # dx depends on the timing of the simulation
+        # which can be different from one computer to another.
+        # Therefore check only dy and dz.
+        dx=0.0;
+        dy=gzGetModelPropResp.pose.position.y--1.51
+        dz=gzGetModelPropResp.pose.position.z-0.997
+        ldistance = math.sqrt(dx*dx+dy*dy+dz*dz)
+        f.write("dist:"+str(ldistance))
+        f.close()
+        if ldistance<0.1:
+            self.assertTrue(True,msg="Converged to the desired position")
+        else:
+            self.assertFalse(True,
+                             msg="Did not converge to the desired position")
+
+    def runTest(self):
+        # Start roscore
+        import subprocess
+        roscore = subprocess.Popen('roscore')
+        time.sleep(2)
+
+        # Get the path to talos_data
+        arospack = rospkg.RosPack()
+        talos_data_path = arospack.get_path('talos_data')
+        talos_bauzil_path = arospack.get_path('talos_bauzil')
+        talos_test_path = arospack.get_path('talos_integration_tests')
+
+        # Start talos_gazebo
+        rospy.init_node('starting_talos_gazebo', anonymous=True)
+        uuid = roslaunch.rlutil.get_or_generate_uuid(None, False)
+        roslaunch.configure_logging(uuid)
+
+        cli_args = [talos_bauzil_path+'/launch/script_walking_bauzil.launch',
+            #'world_name:=empty',
+            'world_name:=bauzil_skins',
+            #'robot:=full_v2',
+            'robot:=full_v2_ouster',
+            'enable_leg_passive:=false'
+        ]
+
+        roslaunch_args = cli_args[1:]
+        roslaunch_file = [(roslaunch.rlutil.resolve_launch_arguments(cli_args)[0], roslaunch_args)]
+
+        launch_gazebo_alone = roslaunch.parent.ROSLaunchParent(uuid, roslaunch_file)
+        launch_gazebo_alone.start()
+        rospy.loginfo("talos_gazebo_alone started")
+
+        rospy.wait_for_service("/gazebo/pause_physics")
+        gazebo_pause_physics = rospy.ServiceProxy('/gazebo/pause_physics',
+                                                Empty)
+        gazebo_pause_physics()
+
+        time.sleep(5)
+        # Spawn talos model in gazebo
+
+        launch_gazebo_spawn_hs = roslaunch.parent.ROSLaunchParent(uuid,\
+                [talos_test_path+'/launch/talos_spawn_hs_ouster.launch'])
+
+        launch_gazebo_spawn_hs.start()
+        rospy.loginfo("talos_gazebo_spawn_hs started")
+
+        rospy.wait_for_service("/gains/arm_left_1_joint/set_parameters")
+        time.sleep(5)
+        gazebo_unpause_physics = rospy.\
+            ServiceProxy('/gazebo/unpause_physics', Empty)
+        gazebo_unpause_physics()
+
+        # Start roscontrol
+        launch_bringup = roslaunch.parent.ROSLaunchParent(uuid,\
+            [talos_data_path+'/launch/talos_bringup.launch'])
+
+        launch_bringup.start()
+        rospy.loginfo("talos_bringup started")
+
+        # Start sot
+        roscontrol_sot_talos_path=arospack.get_path('roscontrol_sot_talos')
+        launch_roscontrol_sot_talos =roslaunch.parent.ROSLaunchParent(uuid,\
+        [roscontrol_sot_talos_path+\
+        '/launch/sot_talos_controller_gazebo.launch'])
+        launch_roscontrol_sot_talos.start()
+        rospy.loginfo("roscontrol_sot_talos started")
+
+        time.sleep(3)
+
+        # Launch test
+        pkg_name='talos_integration_tests'
+        executable='test_online_walking.py'
+        node_name='test_online_walking_py'
+        test_sot_ouster_walking_node = roslaunch.core.\
+            Node(pkg_name, executable,name=node_name)
+
+        launch_test_sot_ouster_walking=roslaunch.scriptapi.ROSLaunch()
+        launch_test_sot_ouster_walking.start()
+
+        test_sot_ouster_walking_process = launch_test_sot_ouster_walking.\
+            launch(test_sot_ouster_walking_node)
+
+        time.sleep(3)
+
+        # Publish odometry
+        launch_odom = roslaunch.parent.ROSLaunchParent(uuid,
+                                                    [talos_bauzil_path+'/launch/talos_sot_odometry.launch'])
+        launch_odom.start()
+        rospy.loginfo("Talos odometry started")
+
+        time.sleep(2)
+
+        # Start mapping
+        aicp_path = arospack.get_path('aicp_ros')
+        cli_args = [aicp_path+'/launch/aicp_mapping.launch',
+            'pose_odom:=/odom_sot_aicp',
+            'lidar_channel:=/os1_cloud_node/points',
+            'inertial_frame:=/world',
+            'fixed_frame:=/world'
+        ]
+
+        roslaunch_args = cli_args[1:]
+        roslaunch_file = [(roslaunch.rlutil.resolve_launch_arguments(cli_args)[0], roslaunch_args)]
+
+        launch_aicp = roslaunch.parent.ROSLaunchParent(uuid, roslaunch_file)
+        launch_aicp.start()
+        rospy.loginfo("aicp_mapping started")
+
+
+
+        rospy.sleep(3)
+        r = rospy.Rate(10)
+        while not rospy.is_shutdown():
+            # Test if sot_online_walking is finished or not
+            if not test_sot_ouster_walking_process.is_alive():
+
+                self.validation_through_gazebo()
+
+
+                # If it is finished then find exit status.
+                if test_sot_ouster_walking_process.exit_code != 0:
+                    exit_status = "test_ouster_walking failed"
+                    self.assertFalse(True,exit_status)
+                else:
+                    exit_status="None"
+
+                print("Stopping SoT")
+                launch_roscontrol_sot_talos.shutdown()
+                # print("Shutting down spawners")
+                # launch_gazebo_spawn_hs.shutdown()
+                # launch_bringup.shutdown()
+                print("Stopping Odometry")
+                launch_odom.shutdown()
+                print("Stopping Gazebo")
+                launch_gazebo_alone.shutdown()
+                print("Stopping Mapping")
+                launch_aicp.shutdown()
+
+
+                rospy.signal_shutdown(exit_status)
+
+                # Terminate the roscore subprocess
+                print("Stop roscore")
+                roscore.terminate()
+
+
+            try:
+                r.sleep()
+            except rospy.ROSInterruptException:
+                rospy.logwarn("Exiting test")
+
+
+
+if __name__ == '__main__':
+    import rosunit
+    rosunit.unitrun(PKG_NAME,'test_online_walking',TestSoTTalos)
+

scripts/start_sot_talos_balance.py

@@ -32,7 +32,7 @@ def validation_through_gazebo(self):
         ldistance = math.sqrt(dx*dx+dy*dy+dz*dz)
         f.write("dist:"+str(ldistance))
         f.close()
-        if ldistance<0.009:
+        if ldistance<0.04:
             self.assertTrue(True,msg="Converged to the desired position")
         else:
             self.assertFalse(True,
@@ -138,7 +138,10 @@ def runTest(self):
                 print("Stop roscore")
                 roscore.terminate()
 
-            r.sleep()
+            try:
+                r.sleep()
+            except rospy.ROSInterruptException:
+                rospy.logwarn("Exiting test")
 
 if __name__ == '__main__':
     import rosunit

scripts/start_talos_gazebo_kine.py

@@ -133,7 +133,10 @@ def runTest(self):
                 print("Stop roscore")
                 roscore.terminate()
 
-            r.sleep()
+            try:
+                r.sleep()
+            except rospy.ROSInterruptException:
+                rospy.logwarn("Exiting test")
 
 
 if __name__ == '__main__':

scripts/test_kine.py

@@ -1,4 +1,4 @@
-#! /usr/bin/env python
+#!/usr/bin/env python
 import sys
 import rospy
 import time
@@ -21,6 +21,8 @@ def handleRunCommandClient(code):
 
 PKG_NAME='talos_integration_tests'
 
+rospy.init_node('test_kine', anonymous=True)
+
 def runTest():
     # Waiting for services
     try:
@@ -56,7 +58,7 @@ def runTest():
         handleRunCommandClient("gotoNd(robot.taskRH,target,'111',(4.9,0.9,0.01,0.9))")
         handleRunCommandClient("robot.sot.push(robot.taskRH.task.name)")
 
-        time.sleep(10)
+        rospy.sleep(10)
 
     except rospy.ServiceException, e:
         rospy.logerr("Service call failed: %s" % e)