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170 changes: 170 additions & 0 deletions
170
localization/ekf_localizer/test/test_ekf_localizer_launch.py
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,170 @@ | ||
| #!/usr/bin/env python3 | ||
|
|
||
| # Copyright 2023 TIER IV, Inc. | ||
| # | ||
| # 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. | ||
|
|
||
| import os | ||
| import time | ||
| import unittest | ||
|
|
||
| from ament_index_python import get_package_share_directory | ||
| from geometry_msgs.msg import PoseWithCovarianceStamped | ||
| import launch | ||
| from launch.actions import IncludeLaunchDescription | ||
| from launch.launch_description_sources import AnyLaunchDescriptionSource | ||
| from launch.logging import get_logger | ||
| import launch_testing | ||
| from nav_msgs.msg import Odometry | ||
| import pytest | ||
| import rclpy | ||
| from std_srvs.srv import SetBool | ||
|
|
||
| logger = get_logger(__name__) | ||
|
|
||
|
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| @pytest.mark.launch_test | ||
| def generate_test_description(): | ||
| test_ekf_localizer_launch_file = os.path.join( | ||
| get_package_share_directory("ekf_localizer"), | ||
| "launch", | ||
| "ekf_localizer.launch.xml", | ||
| ) | ||
| ekf_localizer = IncludeLaunchDescription( | ||
| AnyLaunchDescriptionSource(test_ekf_localizer_launch_file), | ||
| ) | ||
|
|
||
| return launch.LaunchDescription( | ||
| [ | ||
| ekf_localizer, | ||
| # Start tests right away - no need to wait for anything | ||
| launch_testing.actions.ReadyToTest(), | ||
| ] | ||
| ) | ||
|
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||
|
|
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| class TestEKFLocalizer(unittest.TestCase): | ||
| @classmethod | ||
| def setUpClass(cls): | ||
| # Initialize the ROS context for the test node | ||
| rclpy.init() | ||
|
|
||
| @classmethod | ||
| def tearDownClass(cls): | ||
| # Shutdown the ROS context | ||
| rclpy.shutdown() | ||
|
|
||
| def setUp(self): | ||
| # Create a ROS node for tests | ||
| self.test_node = rclpy.create_node("test_node") | ||
| self.evaluation_time = 0.2 # 200ms | ||
|
|
||
| def tearDown(self): | ||
| self.test_node.destroy_node() | ||
|
|
||
| @staticmethod | ||
| def print_message(stat): | ||
| logger.debug("===========================") | ||
| logger.debug(stat) | ||
|
|
||
| def test_node_link(self): | ||
| # Trigger ekf_localizer to activate the node | ||
| cli_trigger = self.test_node.create_client(SetBool, "/trigger_node") | ||
| while not cli_trigger.wait_for_service(timeout_sec=1.0): | ||
| continue | ||
|
|
||
| request = SetBool.Request() | ||
| request.data = True | ||
| future = cli_trigger.call_async(request) | ||
| rclpy.spin_until_future_complete(self.test_node, future) | ||
|
|
||
| if future.result() is not None: | ||
| self.test_node.get_logger().info("Result of bool service: %s" % future.result().message) | ||
| else: | ||
| self.test_node.get_logger().error( | ||
| "Exception while calling service: %r" % future.exception() | ||
| ) | ||
|
|
||
| # Send initial pose | ||
| pub_init_pose = self.test_node.create_publisher( | ||
| PoseWithCovarianceStamped, "/initialpose3d", 10 | ||
| ) | ||
| init_pose = PoseWithCovarianceStamped() | ||
| init_pose.header.frame_id = "map" | ||
| init_pose.pose.pose.position.x = 0.0 | ||
| init_pose.pose.pose.position.y = 0.0 | ||
| init_pose.pose.pose.position.z = 0.0 | ||
| init_pose.pose.pose.orientation.x = 0.0 | ||
| init_pose.pose.pose.orientation.y = 0.0 | ||
| init_pose.pose.pose.orientation.z = 0.0 | ||
| init_pose.pose.pose.orientation.w = 1.0 | ||
| init_pose.pose.covariance = [ | ||
| 0.01, | ||
| 0.0, | ||
| 0.0, | ||
| 0.0, | ||
| 0.0, | ||
| 0.0, | ||
| 0.0, | ||
| 0.01, | ||
| 0.0, | ||
| 0.0, | ||
| 0.0, | ||
| 0.0, | ||
| 0.0, | ||
| 0.0, | ||
| 0.01, | ||
| 0.0, | ||
| 0.0, | ||
| 0.0, | ||
| 0.0, | ||
| 0.0, | ||
| 0.0, | ||
| 0.01, | ||
| 0.0, | ||
| 0.0, | ||
| 0.0, | ||
| 0.0, | ||
| 0.0, | ||
| 0.0, | ||
| 0.01, | ||
| 0.0, | ||
| 0.0, | ||
| 0.0, | ||
| 0.0, | ||
| 0.0, | ||
| 0.0, | ||
| 0.01, | ||
| ] | ||
| pub_init_pose.publish(init_pose) | ||
|
|
||
| # Receive Odometry | ||
| msg_buffer = [] | ||
| self.test_node.create_subscription( | ||
| Odometry, "/ekf_odom", lambda msg: msg_buffer.append(msg), 10 | ||
| ) | ||
|
|
||
| # Wait until the node publishes some topic | ||
| end_time = time.time() + self.evaluation_time | ||
| while time.time() < end_time: | ||
| rclpy.spin_once(self.test_node, timeout_sec=0.1) | ||
|
|
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| # Check if the EKF outputs some Odometry | ||
| self.assertTrue(len(msg_buffer) > 0) | ||
|
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|
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| @launch_testing.post_shutdown_test() | ||
| class TestProcessOutput(unittest.TestCase): | ||
| def test_exit_code(self, proc_info): | ||
| # Check that process exits with code 0: no error | ||
| launch_testing.asserts.assertExitCodes(proc_info) |
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