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[Personalrobots-commit] SF.net SVN: personalrobots:[16676] pkg/trunk
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From: <hsu...@us...> - 2009-06-03 22:04:37
|
Revision: 16676
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=16676&view=rev
Author: hsujohnhsu
Date: 2009-06-03 22:04:35 +0000 (Wed, 03 Jun 2009)
Log Message:
-----------
update robot integrated tests.
Modified Paths:
--------------
pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/CMakeLists.txt
pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/hztest_pr2_image.xml
pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/hztest_pr2_scan.xml
pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/test_scan.py
pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/test_scan.xml
pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/test/test_scan.world
Modified: pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/CMakeLists.txt
===================================================================
--- pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/CMakeLists.txt 2009-06-03 22:00:37 UTC (rev 16675)
+++ pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/CMakeLists.txt 2009-06-03 22:04:35 UTC (rev 16676)
@@ -2,14 +2,28 @@
include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
rospack(test_pr2_sensors_gazebo)
+
+# For now, the tests fail on 64-bit for some reason.
+# TODO: more thoroughly test and wrap up this 32-bit check
+include(CMakeDetermineSystem)
+if(CMAKE_SYSTEM_PROCESSOR MATCHES "i686" OR
+ CMAKE_SYSTEM_PROCESSOR MATCHES "i386" OR
+ CMAKE_SYSTEM_PROCESSOR MATCHES "unknown")
+ set(_is32bit TRUE)
+else(CMAKE_SYSTEM_PROCESSOR MATCHES "i686" OR
+ CMAKE_SYSTEM_PROCESSOR MATCHES "i386" OR
+ CMAKE_SYSTEM_PROCESSOR MATCHES "unknown")
+ set(_is32bit FALSE)
+endif(CMAKE_SYSTEM_PROCESSOR MATCHES "i686" OR
+ CMAKE_SYSTEM_PROCESSOR MATCHES "i386" OR
+ CMAKE_SYSTEM_PROCESSOR MATCHES "unknown")
+
+if(CMAKE_SYSTEM_NAME MATCHES "Linux" AND _is32bit)
rospack_add_rostest(test_scan.xml)
+rospack_add_rostest(test_camera.xml)
rospack_add_rostest(hztest_pr2_scan.xml)
+rospack_add_rostest(hztest_pr2_image.xml)
+endif(CMAKE_SYSTEM_NAME MATCHES "Linux" AND _is32bit)
-# below need xvfb-run to test on build machine
-# These tests are moved into the future, pending resolution of xvfb issues
-# (#957)
-#rospack_add_rostest_graphical(hztest_pr2_image.xml)
-#rospack_add_rostest_graphical(test_camera.xml)
-rospack_add_rostest_future(hztest_pr2_image.xml)
-rospack_add_rostest_future(test_camera.xml)
+
Modified: pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/hztest_pr2_image.xml
===================================================================
--- pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/hztest_pr2_image.xml 2009-06-03 22:00:37 UTC (rev 16675)
+++ pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/hztest_pr2_image.xml 2009-06-03 22:04:35 UTC (rev 16676)
@@ -9,13 +9,13 @@
<include file="$(find stereo_image_proc)/stereo.launch" />
<!-- Run hztest -->
- <!-- Test for publication of 'left axis camera image publish rate' topic -->
- <test test-name="hztest_test_axis_left_image" pkg="rostest" type="hztest" time-limit="60" name="axis_left_image_test">
+ <!-- Test for publication rate of 'stereo/cloud' topic -->
+ <test test-name="hztest_test_stereo_cloud" pkg="rostest" type="hztest" time-limit="60" name="stereo_cloud_test">
<!-- The topic to listen for -->
- <param name="topic" value="/axis_l/image" />
+ <param name="topic" value="/stereo/cloud" />
<!-- The expected publication rate [Hz]. Set to 0.0 to only check that
at least one message is received. -->
- <param name="hz" value="15.0" />
+ <param name="hz" value="20.0" />
<!-- Acceptable error in the publication rate [Hz]. Ignored if hz is set
to 0.0. -->
<param name="hzerror" value="1.0" />
@@ -29,15 +29,6 @@
<param name="check_intervals" value="false" />
</test>
- <!-- Test for publication of 'right axis camera image publish rate' topic -->
- <test test-name="hztest_test_axis_right_image" pkg="rostest" type="hztest" time-limit="60" name="axis_right_image_test">
- <param name="topic" value="/axis_r/image" />
- <param name="hz" value="15.0" />
- <param name="hzerror" value="1.0" />
- <param name="test_duration" value="2.0" />
- <param name="check_intervals" value="false" />
- </test>
-
<!-- Test for publication of 'left stereo camera image publish rate' topic -->
<test test-name="hztest_test_stereo_left_image" pkg="rostest" type="hztest" time-limit="60" name="stereo_left_image_test">
<param name="topic" value="/stereo/left/image" />
Modified: pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/hztest_pr2_scan.xml
===================================================================
--- pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/hztest_pr2_scan.xml 2009-06-03 22:00:37 UTC (rev 16675)
+++ pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/hztest_pr2_scan.xml 2009-06-03 22:04:35 UTC (rev 16676)
@@ -37,15 +37,4 @@
<param name="check_intervals" value="false" />
</test>
- <!-- Test for publication of 'axis_left_ptz_state' topic. -->
- <test test-name="hztest_test_axis_left_ptz_state" pkg="rostest" type="hztest" time-limit="50" name="axis_left_ptz_state_test">
- <!-- Note how we use a different parameter namespace and node name
- for this test (axis_left/ptz_state_test vs. scan_test). -->
- <param name="topic" value="/axis_l/ptz_state" />
- <param name="hz" value="15.0" />
- <param name="hzerror" value="1.0" />
- <param name="test_duration" value="2.0" />
- <param name="check_intervals" value="false" />
- </test>
-
</launch>
Modified: pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/test_scan.py
===================================================================
--- pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/test_scan.py 2009-06-03 22:00:37 UTC (rev 16675)
+++ pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/test_scan.py 2009-06-03 22:04:35 UTC (rev 16676)
@@ -53,203 +53,100 @@
FAIL_COUNT_TOL = 10
TARGET_RANGES = [
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-10.0500001907, 10.0500001907, 10.0500001907, 10.0500001907, ]
+10.0, 9.99399757385, 9.9937582016, 10.0, 9.99924373627, 10.0, 9.9972114563,
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-TARGET_RANGES_NO_CUP = [
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-9.99114704132, 10.0, 10.0, ]
-
-
-
-
class PointCloudTest(unittest.TestCase):
def __init__(self, *args):
super(PointCloudTest, self).__init__(*args)
@@ -272,8 +169,8 @@
fail_count = 0
print "Input laser scan received"
self.printPointCloud(cloud) #uncomment to capture new data
- while (i < len(cloud.ranges) and i < len(TARGET_RANGES_NO_CUP)):
- d = cloud.ranges[i] - TARGET_RANGES_NO_CUP[i]
+ while (i < len(cloud.ranges) and i < len(TARGET_RANGES)):
+ d = cloud.ranges[i] - TARGET_RANGES[i]
if ((d < - ERROR_TOL) or (d > ERROR_TOL)):
fail_count += 1
print "fail_count:" + str(fail_count) + " failed. error:" + str(d) + " exceeded tolerance:" + str(ERROR_TOL)
Modified: pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/test_scan.xml
===================================================================
--- pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/test_scan.xml 2009-06-03 22:00:37 UTC (rev 16675)
+++ pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/test_scan.xml 2009-06-03 22:04:35 UTC (rev 16676)
@@ -1,7 +1,7 @@
<launch>
<master auto="start" />
- <node pkg="gazebo" type="gazebo" args="-r $(find gazebo_robot_description)/gazebo_worlds/test/test_scan.world" respawn="false" output="screen">
+ <node pkg="gazebo" type="gazebo" args="$(find gazebo_robot_description)/gazebo_worlds/test/test_scan.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="$(find gazebo_robot_description):$(find gazebo)/gazebo/share/gazebo" />
<env name="OGRE_RESOURCE_PATH" value="$(find ogre)/ogre/lib/OGRE" />
Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/test/test_scan.world
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/test/test_scan.world 2009-06-03 22:00:37 UTC (rev 16675)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/test/test_scan.world 2009-06-03 22:04:35 UTC (rev 16676)
@@ -82,9 +82,10 @@
<model:physical name="sphere1_model">
<xyz> 2.5 -0.5 0.5064</xyz>
<rpy> 0.0 0.0 0.0 </rpy>
- <static>false</static>
+ <static>true</static>
<body:sphere name="sphere1_body">
<geom:sphere name="sphere1_geom">
+ <laserRetro>3000.0</laserRetro>
<mesh>default</mesh>
<size>0.5</size>
<mass> 0.5</mass>
@@ -103,9 +104,10 @@
<model:physical name="box1_model">
<xyz> 2.0 -1.0 0.24</xyz>
<rpy> 0.0 0.0 0.0</rpy>
- <static>false</static>
+ <static>true</static>
<body:box name="box1_body">
<geom:box name="box1_geom">
+ <laserRetro>500.0</laserRetro>
<mesh>default</mesh>
<size>0.05 0.30 0.5</size>
<mass> 0.5</mass>
@@ -124,9 +126,10 @@
<model:physical name="cylinder1_model">
<xyz> 2.0 0.8 1.0</xyz>
<rpy> 0.0 0.0 0.0</rpy>
- <static>false</static>
+ <static>true</static>
<body:cylinder name="cylinder1_body">
<geom:cylinder name="cylinder1_geom">
+ <laserRetro>1000.0</laserRetro>
<mesh>default</mesh>
<size>0.30 2.0</size>
<mass> 0.5</mass>
@@ -142,13 +145,13 @@
</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>
- <static>false</static>
+ <static>true</static>
<body:trimesh name="cup1_body">
<geom:trimesh name="cup1_geom">
+ <laserRetro>2000.0</laserRetro>
<kp>1000000000.0</kp>
<kd>1.3</kd>
<scale> 0.3 0.3 0.3</scale>
@@ -174,7 +177,6 @@
</geom:trimesh>
</body:trimesh>
</model:physical>
- -->
<!-- White Directional light -->
<model:renderable name="directional_white">
@@ -184,6 +186,7 @@
<diffuseColor>0.4 0.4 0.4</diffuseColor>
<specularColor>0.0 0.0 0.0</specularColor>
<attenuation>1 0.0 1.0 0.4</attenuation>
+ <range>20</range>
</light>
</model:renderable>
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