[Personalrobots-commit] SF.net SVN: personalrobots:[7513] pkg/trunk

SourceForge Headquarters 1320 Columbia Street Suite 310 San Diego, CA 92101 +1 (858) 422-6466

Revision: 7513
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=7513&view=rev
Author:   hsujohnhsu
Date:     2008-12-03 20:59:11 +0000 (Wed, 03 Dec 2008)

Log Message:
-----------
update testscan to run x-server-less.

Modified Paths:
--------------
    pkg/trunk/drivers/simulator/gazebo_plugin/CMakeLists.txt
    pkg/trunk/drivers/simulator/gazebo_plugin/test/testscan.py
    pkg/trunk/drivers/simulator/gazebo_plugin/test/testscan.xml
    pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/test/testscan.world

Modified: pkg/trunk/drivers/simulator/gazebo_plugin/CMakeLists.txt
===================================================================

--- pkg/trunk/drivers/simulator/gazebo_plugin/CMakeLists.txt	2008-12-03 20:49:47 UTC (rev 7512)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/CMakeLists.txt	2008-12-03 20:59:11 UTC (rev 7513)
@@ -29,6 +29,7 @@
 rospack_add_rostest(test/testbase.xml)
 rospack_add_rostest(test/testarm.xml)
 rospack_add_rostest(test/testpendulum.xml)
+rospack_add_rostest(test/testscan.xml)
 
 rospack_add_rostest(test/hztest_pr2.xml)
 rospack_add_rostest(test/hztest_rostime.xml)
@@ -36,7 +37,6 @@
 
 # below need xvfb-run
 rospack_add_rostest_future(test/testcameras.xml)
-rospack_add_rostest_future(test/testscan.xml)
 rospack_add_rostest_future(test/hztest_pr2_image.xml)
 
 rospack_add_executable(urdf2factory src/urdf2factory.cc)

Modified: pkg/trunk/drivers/simulator/gazebo_plugin/test/testscan.py
===================================================================
--- pkg/trunk/drivers/simulator/gazebo_plugin/test/testscan.py	2008-12-03 20:49:47 UTC (rev 7512)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/test/testscan.py	2008-12-03 20:59:11 UTC (rev 7513)
@@ -52,6 +52,7 @@
 import rospy, rostest
 from std_msgs.msg import *
 
+TEST_DURATION = 15
 
 TARGET_RANGES = [
 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 
@@ -153,8 +154,108 @@
 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 
 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, ]
 
+TARGET_RANGES_NO_CUP = [
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+10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 
+10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, 
+10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, ]
 
 
+
 class PointCloudTest(unittest.TestCase):
     def __init__(self, *args):
         super(PointCloudTest, self).__init__(*args)
@@ -176,8 +277,8 @@
         i = 0
         print "Input laser scan received"
         self.printPointCloud(cloud)
-        while (i < len(cloud.ranges) and i < len(TARGET_RANGES)):
-            d = cloud.ranges[i] - TARGET_RANGES[i]
+        while (i < len(cloud.ranges) and i < len(TARGET_RANGES_NO_CUP)):
+            d = cloud.ranges[i] - TARGET_RANGES_NO_CUP[i]
             if ((d < -0.03) or (d > 0.03)):
                 return
             i = i + 1
@@ -185,9 +286,9 @@
     
     def test_pointcloud(self):
         print "LNK\n"
-        rospy.Subscriber("base_scan", LaserScan, self.pointInput)
+        rospy.TopicSub("base_scan", LaserScan, self.pointInput)
         rospy.init_node(NAME, anonymous=True)
-        timeout_t = time.time() + 5.0
+        timeout_t = time.time() + TEST_DURATION
         while not rospy.is_shutdown() and not self.success and time.time() < timeout_t:
             time.sleep(0.1)
         self.assert_(self.success)

Modified: pkg/trunk/drivers/simulator/gazebo_plugin/test/testscan.xml
===================================================================
--- pkg/trunk/drivers/simulator/gazebo_plugin/test/testscan.xml	2008-12-03 20:49:47 UTC (rev 7512)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/test/testscan.xml	2008-12-03 20:59:11 UTC (rev 7513)
@@ -1,7 +1,7 @@
 <launch>
   <master auto="start" />
 
-    <node pkg="gazebo" type="gazebo" args="-n $(find gazebo_robot_description)/gazebo_worlds/test/testscan.world" respawn="false" output="screen">
+    <node pkg="gazebo" type="gazebo" args="-r $(find gazebo_robot_description)/gazebo_worlds/test/testscan.world" respawn="false" output="screen">
       <env name="LD_LIBRARY_PATH" value="$(find gazebo_plugin)/lib:$(find gazebo)/gazebo/lib:$(find Cg)/Cg/lib:$(find boost)/boost/lib:$LD_LIBRARY_PATH" />
       <env name="GAZEBO_RESOURCE_PATH" value="$(find gazebo_robot_description)/world" />
       <env name="OGRE_RESOURCE_PATH" value="$(find ogre)/ogre/lib/OGRE" />

Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/test/testscan.world
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/test/testscan.world	2008-12-03 20:49:47 UTC (rev 7512)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/test/testscan.world	2008-12-03 20:59:11 UTC (rev 7513)
@@ -82,18 +82,18 @@
 
   <!-- The small cuboidal "test sphere" -->
   <model:physical name="sphere1_model">
-    <xyz>   2.5   -0.5    0.1464</xyz>
+    <xyz>   2.5   -0.5    0.5064</xyz>
     <rpy>   0.0    0.0    0.0 </rpy>
     <static>false</static>
     <body:sphere name="sphere1_body">
       <geom:sphere name="sphere1_geom">
         <mesh>default</mesh>
-        <size>0.15</size>
+        <size>0.5</size>
         <mass> 0.5</mass>
         <cfm>0.000001</cfm>
         <erp>0.8</erp>
         <visual>
-          <size> 0.3 0.3 0.3</size>
+          <size> 1.0 1.0 1.0</size>
           <material>Gazebo/PioneerBody</material>
           <mesh>unit_sphere</mesh>
         </visual>
@@ -144,6 +144,7 @@
   </model:physical>
 
   <!-- The trimesh cup -->
+  <!-- commented out because xvfb is not working reliably yet
   <model:physical name="cup1_model">
     <xyz>    3.0    0.0     0.009</xyz>
     <rpy>   90.0    0.0    90.0</rpy>
@@ -175,6 +176,7 @@
       </geom:trimesh>
     </body:trimesh>
   </model:physical>
+  -->
 
   <!-- White Directional light -->
   <model:renderable name="directional_white">


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