[Personalrobots-commit] SF.net SVN: personalrobots:[12474] pkg/trunk

[<hsu...@us...>]

Revision: 12474
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=12474&view=rev
Author:   hsujohnhsu
Date:     2009-03-12 22:40:41 +0000 (Thu, 12 Mar 2009)

Log Message:
-----------
update slide test to graphical.

Modified Paths:
--------------
    pkg/trunk/drivers/simulator/test_pr2_collision_gazebo/CMakeLists.txt
    pkg/trunk/drivers/simulator/test_pr2_collision_gazebo/test_slide.py
    pkg/trunk/drivers/simulator/test_pr2_collision_gazebo/test_slide.xml
    pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/test/test_slide.world

Modified: pkg/trunk/drivers/simulator/test_pr2_collision_gazebo/CMakeLists.txt
===================================================================
--- pkg/trunk/drivers/simulator/test_pr2_collision_gazebo/CMakeLists.txt	2009-03-12 22:36:17 UTC (rev 12473)
+++ pkg/trunk/drivers/simulator/test_pr2_collision_gazebo/CMakeLists.txt	2009-03-12 22:40:41 UTC (rev 12474)
@@ -2,5 +2,5 @@
 include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
 rospack(test_pr2_collision_gazebo)
 
-rospack_add_rostest(test_slide.xml)
+rospack_add_rostest_graphical(test_slide.xml)
 

Modified: pkg/trunk/drivers/simulator/test_pr2_collision_gazebo/test_slide.py
===================================================================
--- pkg/trunk/drivers/simulator/test_pr2_collision_gazebo/test_slide.py	2009-03-12 22:36:17 UTC (rev 12473)
+++ pkg/trunk/drivers/simulator/test_pr2_collision_gazebo/test_slide.py	2009-03-12 22:40:41 UTC (rev 12474)
@@ -45,11 +45,12 @@
 import rospy, rostest
 from robot_msgs.msg import *
 
-TEST_DURATION = 50.0
+TEST_DURATION = 90.0
 TARGET_X = -5.4 + 25.65 #contains offset specified in P3D for base, alternatively, use the gripper roll ground truths
 TARGET_Y = 0.0 + 25.65 #contains offset specified in P3D for base, alternatively, use the gripper roll ground truths
 TARGET_Z = 3.8
 TARGET_RAD = 4.5
+CUP_HEIGHT = 4.0
 
 class TestSlide(unittest.TestCase):
     def __init__(self, *args):
@@ -71,8 +72,8 @@
         dz = p3d.pos.position.z - TARGET_Z
         d = math.sqrt((dx * dx) + (dy * dy)) #+ (dz * dz))
         print "Error: " + str(dx) + " " + str(dy) + " " + str(dz)
-        #print "D: " + str(dx) + " " + str(dy) + " " + str(dz) + " " + str(d) + " < " + str(TARGET_RAD * TARGET_RAD)
-        if (d < TARGET_RAD):
+        print "D: dx:" + str(dx) + " dy:" + str(dy) + " dz:" + str(dz) + " d:" + str(d) + " : " + str(TARGET_RAD)
+        if (d < TARGET_RAD and abs(dz) < CUP_HEIGHT):
             #print "HP: " + str(dx) + " " + str(dy) + " " + str(d) + " at " + str(p3d.pos.position.x) + " " + str(p3d.pos.position.y)
             #print "DONE"
             self.hits = self.hits + 1

Modified: pkg/trunk/drivers/simulator/test_pr2_collision_gazebo/test_slide.xml
===================================================================
--- pkg/trunk/drivers/simulator/test_pr2_collision_gazebo/test_slide.xml	2009-03-12 22:36:17 UTC (rev 12473)
+++ pkg/trunk/drivers/simulator/test_pr2_collision_gazebo/test_slide.xml	2009-03-12 22:40:41 UTC (rev 12474)
@@ -1,7 +1,7 @@
 <launch>
   <master auto="start" />
 
-    <node pkg="gazebo" type="gazebo" args="-r $(find gazebo_robot_description)/gazebo_worlds/test/test_slide.world" respawn="false" output="screen">
+    <node pkg="gazebo" type="gazebo" args="-n $(find gazebo_robot_description)/gazebo_worlds/test/test_slide.world" respawn="false" output="screen">
       <env name="LD_LIBRARY_PATH" value="$(find gazebo_plugin)/lib:$(find gazebo)/gazebo/lib:$(find Cg)/Cg/lib:$(optenv LD_LIBRARY_PATH)" />
       <env name="GAZEBO_RESOURCE_PATH" value="$(find gazebo_robot_description)/world" />
       <env name="OGRE_RESOURCE_PATH" value="$(find ogre)/ogre/lib/OGRE" />
@@ -18,5 +18,5 @@
     <include file="$(find pr2_gazebo)/pr2_default_controllers.launch" />
 
     <!-- test -->
-    <test test-name="pr2_test_slide" pkg="test_pr2_collision_gazebo" type="test_slide.py" />
+    <test test-name="pr2_test_slide" pkg="test_pr2_collision_gazebo" type="test_slide.py" time-limit="80" />
 </launch>

Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/test/test_slide.world
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/test/test_slide.world	2009-03-12 22:36:17 UTC (rev 12473)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/test/test_slide.world	2009-03-12 22:40:41 UTC (rev 12474)
@@ -60,7 +60,7 @@
     </sky>
     <gazeboPath>media</gazeboPath>
     <grid>false</grid>
-    <maxUpdateRate>100</maxUpdateRate>
+    <maxUpdateRate>0.001</maxUpdateRate>
   </rendering:ogre>
 
 


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