PathPlannerTest.cpp File Reference

file to test the class PathPlanner More...

#include <cv_bridge/cv_bridge.h>
#include <gtest/gtest.h>
#include <ros/connection_manager.h>
#include <ros/package.h>
#include <ros/ros.h>
#include <vector>
#include "package_identification_using_turtlebot/PathPlanner.hpp"

Functions
void	testCb (const geometry_msgs::PoseWithCovarianceStamped msg)
	TEST (publishInitPoseTest, testPlanner1)
	Test to check intiPose publisher. More...
	TEST (findPackageTest, testPlanner2)
	Test if findPackage executes successfully. More...
	TEST (callVisionTest, testPlanner3)
	Test to check if QR code is properly detected. More...
	TEST (waitPackageDetection, detectionCorrection)
	Test to check if a slanted QR code is properly detected. More...

Detailed Description

file to test the class PathPlanner

Author

RajendraMayavan

Adarsh Jagan

Copyright

BSD-3-Clause License Copyright (c) 2018, Mayavan, Adarsh Jagan Sathyamoorthy

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:

1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

Function Documentation

TEST	(	publishInitPoseTest	,
		testPlanner1
	)

Test to check intiPose publisher.

Parameters

[in]	TESTSuite
[in]	test

Returns

none

                                        {
  ros::NodeHandle nh;
  PathPlanner planner({{0.0, 0.0, 0.0, 1.0}});
  ros::Publisher pub = planner.returnPublisher();
  ros::Subscriber sub = nh.subscribe("/initialpose", 1, &testCb);
  EXPECT_EQ(pub.getNumSubscribers(), 1U);
  EXPECT_EQ(sub.getNumPublishers(), 1U);
  std::vector<double> res = planner.callPublisher(2.0, 1.0, 1.0);
  ASSERT_EQ(res.at(0), 2.0);
  ASSERT_EQ(res.at(1), 1.0);
  ASSERT_EQ(res.at(2), 1.0);
}

TEST	(	findPackageTest	,
		testPlanner2
	)

Test if findPackage executes successfully.

Parameters

[in]	TESTSuite
[in]	test

Returns

none

                                    {
  PathPlanner planner({{-2.0, -3.0, 0.0, 1.0}, {-1.0, -2.0, 0.0, 1.0}});
  std::vector<std::string> packID;
  packID.push_back("pack#1");
  packID.push_back("pack#2");
  int i = planner.findPackage(packID);
  ASSERT_EQ(i, 0);
}

TEST	(	callVisionTest	,
		testPlanner3
	)

Test to check if QR code is properly detected.

Parameters

[in]	TESTSuite
[in]	test

Returns

none

                                   {
  ros::NodeHandle nh;
  image_transport::ImageTransport it(nh);
  // Advertise a known image on camera/rgb/image_raw topic
  image_transport::Publisher pub = it.advertise("camera/rgb/image_raw", 1);
  std::string fileLocation =
      ros::package::getPath("package_identification_using_turtlebot") +
      "/data/pack4.png";
  cv::Mat image = cv::imread(fileLocation);
  cv::waitKey(3);
  sensor_msgs::ImagePtr msg =
      cv_bridge::CvImage(std_msgs::Header(), "bgr8", image).toImageMsg();
  ros::Rate loop_rate(5);
  PathPlanner planner({{-2.0, -3.0, 0.0, 1.0}, {-1.0, -2.0, 0.0, 1.0}});
  std::vector<std::string> packID;
  ros::Time start_time = ros::Time::now();
  ros::Duration timeout(15.0);
  // If the test is not completed within timeout the test fails
  while (ros::Time::now() - start_time < timeout) {
    pub.publish(msg);
    packID = planner.callVision(packID);
    if (packID.at(0).substr(0, 4) == "pack") break;
    loop_rate.sleep();
  }

  ASSERT_STREQ("pack#4", (packID.at(0)).c_str());
}

TEST	(	waitPackageDetection	,
		detectionCorrection
	)

Test to check if a slanted QR code is properly detected.

Parameters

[in]	TESTSuite
[in]	test

Returns

none

                                                {
  ros::NodeHandle nh;
  image_transport::ImageTransport it(nh);
  // Advertise a known image on camera/rgb/image_raw topic
  image_transport::Publisher pub = it.advertise("camera/rgb/image_raw", 1);
  std::string fileLocation =
      ros::package::getPath("package_identification_using_turtlebot") +
      "/data/pack3_slant.png";
  cv::Mat image = cv::imread(fileLocation);
  cv::waitKey(3);
  sensor_msgs::ImagePtr msg =
      cv_bridge::CvImage(std_msgs::Header(), "bgr8", image).toImageMsg();
  ros::Rate loop_rate(5);
  PathPlanner planner({{-2.0, -3.0, 0.0, 1.0}, {-1.0, -2.0, 0.0, 1.0}});
  ros::Time start_time = ros::Time::now();
  ros::Duration timeout(15.0);
  std::string result;
  // If the test is not completed within timeout the test fails
  while (ros::Time::now() - start_time < timeout) {
    pub.publish(msg);
    std::string incorrectDetection = "hello";
    result = planner.waitPackageDetection(incorrectDetection);
    if (result.substr(0, 4) == "pack") break;
    loop_rate.sleep();
  }
  ASSERT_STREQ("pack#3", result.c_str());
}

void testCb

(

const geometry_msgs::PoseWithCovarianceStamped

msg

)

{}