Merge pull request #48 from husarion/test-gazebo

Test gazebo

.github/workflows/industrial_ci.yaml

@@ -43,3 +43,4 @@ jobs:
             - uses: ros-industrial/industrial_ci@master
               env:
                   ROS_DISTRO: ${{matrix.ROS_DISTRO}}
+                  HUSARION_ROS_BUILD: simulation

README.md

@@ -147,6 +147,27 @@ black rosbot*
 ```
 
 
+## Testing package
+
+### Industrial CI
+```
+colcon test
+```
+
+> [!NOTE]
+> Command `colcon test` does not build the code. Remember to build your code after changes.
+
+If tests finish with errors print logs:
+```
+colcon test-result --verbose
+```
+
+### Format python code with [Black](https://github.com/psf/black)
+```
+cd src/
+black rosbot*
+```
+
 ## Demos
 
 For further usage examples check out our other repositories:

rosbot_xl_description/urdf/wheel.urdf.xacro

@@ -62,7 +62,7 @@
       <child link="${prefix}_wheel_link" />
       <origin xyz="${x} ${y} 0.0" rpy="0.0 0.0 0.0" />
       <axis xyz="0.0 1.0 0.0" />
-      <limit effort="1.27" velocity="21.0" />
+      <limit effort="1.5" velocity="30.0" />
       <dynamics damping="0.001" friction="0.001" />
     </joint>
 

rosbot_xl_gazebo/launch/simulation.launch.py

@@ -19,6 +19,7 @@
 )
 from launch.substitutions import (
     PathJoinSubstitution,
+    PythonExpression,
     LaunchConfiguration,
 )
 from launch.launch_description_sources import PythonLaunchDescriptionSource
@@ -59,13 +60,29 @@ def generate_launch_description():
         description="Whether to include camera mount to the robot URDF",
     )
 
-    map_package = get_package_share_directory("husarion_office_gz")
-    world_file = PathJoinSubstitution([map_package, "worlds", "husarion_world.sdf"])
+    world_package = get_package_share_directory("husarion_office_gz")
+    world_file = PathJoinSubstitution([world_package, "worlds", "husarion_world.sdf"])
     world_cfg = LaunchConfiguration("world")
     declare_world_arg = DeclareLaunchArgument(
-        "world", default_value=["-r ", world_file], description="SDF world file"
+        "world", default_value=world_file, description="SDF world file"
     )
 
+    headless = LaunchConfiguration("headless")
+    declare_headless_arg = DeclareLaunchArgument(
+        "headless",
+        default_value="False",
+        description="Run Gazebo Ignition in the headless mode",
+    )
+
+    headless_cfg = PythonExpression(
+        [
+            "'--headless-rendering -s -r' if ",
+            headless,
+            " else '-r'",
+        ]
+    )
+    gz_args = [headless_cfg, " ", world_cfg]
+
     gz_sim = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             PathJoinSubstitution(
@@ -76,7 +93,10 @@ def generate_launch_description():
                 ]
             )
         ),
-        launch_arguments={"gz_args": world_cfg}.items(),
+        launch_arguments={
+            "gz_args": gz_args,
+            "on_exit_shutdown": "True",
+        }.items(),
     )
 
     gz_spawn_entity = Node(
@@ -153,7 +173,9 @@ def generate_launch_description():
             declare_camera_model_arg,
             declare_include_camera_mount_arg,
             declare_world_arg,
-            # Sets use_sim_time for all nodes started below (doesn't work for nodes started from ignition gazebo)
+            declare_headless_arg,
+            # Sets use_sim_time for all nodes started below
+            # (doesn't work for nodes started from ignition gazebo)
             SetParameter(name="use_sim_time", value=True),
             gz_sim,
             ign_bridge,

rosbot_xl_gazebo/package.xml

@@ -4,19 +4,18 @@
   <name>rosbot_xl_gazebo</name>
   <version>0.8.9</version>
 
-  <description>The rosbot_xl_gazebo package</description>
+  <description>Gazebo Ignition simulation for ROSbot XL</description>
   <license>Apache License 2.0</license>
 
   <author email="maciej.stepien@husarion.com">Maciej Stępień</author>
   <author email="krzysztof.wojciechowski@husarion.com">Krzysztof Wojciechowski</author>
+  <author email="jakub.delicat@husarion.com">Jakub Delicat</author>
   <maintainer email="support@husarion.com">Husarion</maintainer>
 
   <url type="website">https://husarion.com/</url>
   <url type="repository">https://github.com/husarion/rosbot_xl_ros</url>
   <url type="bugtracker">https://github.com/husarion/rosbot_xl_ros/issues</url>
 
-  <buildtool_depend>ament_cmake</buildtool_depend>
-
   <exec_depend>rosbot_xl_bringup</exec_depend>
 
   <exec_depend>launch</exec_depend>
@@ -30,7 +29,19 @@
   <exec_depend>ros_gz_bridge</exec_depend>
   <exec_depend>ign_ros2_control</exec_depend>
 
+  <test_depend>python3-pytest</test_depend>
+  <test_depend>launch</test_depend>
+  <test_depend>launch_ros</test_depend>
+  <test_depend>launch_pytest</test_depend>
+
+  <test_depend>tf_transformations</test_depend>
+  <test_depend>python-transforms3d-pip</test_depend>
+  <test_depend>nav_msgs</test_depend>
+  <test_depend>geometry_msgs</test_depend>
+
+  <test_depend>rosbot_xl_bringup</test_depend>
+
   <export>
-    <build_type>ament_cmake</build_type>
+    <build_type>ament_python</build_type>
   </export>
 </package>

rosbot_xl_gazebo/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/rosbot_xl_gazebo
+[install]
+install_scripts=$base/lib/rosbot_xl_gazebo

rosbot_xl_gazebo/setup.py

@@ -0,0 +1,40 @@
+# Copyright 2023 Husarion
+#
+# 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
+from glob import glob
+from setuptools import find_packages, setup
+
+package_name = "rosbot_xl_gazebo"
+
+setup(
+    name=package_name,
+    version="0.8.2",
+    packages=find_packages(exclude=["test"]),
+    data_files=[
+        ("share/ament_index/resource_index/packages", ["resource/" + package_name]),
+        ("share/" + package_name, ["package.xml"]),
+        (os.path.join("share", package_name, "launch"), glob("launch/*.launch.py")),
+    ],
+    install_requires=["setuptools"],
+    zip_safe=True,
+    maintainer="Husarion",
+    maintainer_email="contact@husarion.com",
+    description="Gazebo Ignition simulation for ROSbot XL",
+    license="Apache License 2.0",
+    tests_require=["pytest"],
+    entry_points={
+        "console_scripts": [],
+    },
+)

rosbot_xl_gazebo/test/test_copyright.py

@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, 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.
+
+from ament_copyright.main import main
+import pytest
+
+
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=[".", "test"])
+    assert rc == 0, "Found errors"

rosbot_xl_gazebo/test/test_diff_drive_simulation.py

@@ -0,0 +1,88 @@
+# Copyright 2021 Open Source Robotics Foundation, Inc.
+# Copyright 2023 Intel Corporation. All Rights Reserved.
+# Copyright 2023 Husarion
+#
+# 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 launch_pytest
+import pytest
+import rclpy
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
+from launch.substitutions import PathJoinSubstitution
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+
+from test_utils import SimulationTestNode
+from test_ign_kill_utils import kill_ign_linux_processes
+
+
+@launch_pytest.fixture
+def generate_test_description():
+    rosbot_xl_gazebo = get_package_share_directory("rosbot_xl_gazebo")
+    simulation_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            PathJoinSubstitution(
+                [
+                    rosbot_xl_gazebo,
+                    "launch",
+                    "simulation.launch.py",
+                ]
+            )
+        ),
+        launch_arguments={
+            "headless": "True",
+        }.items(),
+    )
+
+    return LaunchDescription([simulation_launch])
+
+
+@pytest.mark.launch(fixture=generate_test_description)
+def test_diff_drive_simulation():
+    rclpy.init()
+    try:
+        node = SimulationTestNode("test_bringup")
+        node.create_test_subscribers_and_publishers()
+        node.start_node_thread()
+
+        flag = node.odom_tf_event.wait(timeout=60.0)
+        assert (
+            flag
+        ), "Expected odom to base_link tf but it was not received. Check robot_localization!"
+
+        # 0.9 m/s and 3.0 rad/s are controller's limits defined in
+        #   rosbot_controller/config/diff_drive_controller.yaml
+        node.set_destination_speed(0.9, 0.0, 0.0)
+        controller_flag = node.controller_odom_event.wait(timeout=20.0)
+        ekf_flag = node.ekf_odom_event.wait(timeout=20.0)
+        assert (
+            controller_flag
+        ), "ROSbot does not move properly in x direction. Check rosbot_xl_base_controller!"
+        assert ekf_flag, "ROSbot does not move properly in x direction. Check ekf_filter_node!"
+
+        node.set_destination_speed(0.0, 0.0, 3.0)
+        controller_flag = node.controller_odom_event.wait(timeout=20.0)
+        ekf_flag = node.ekf_odom_event.wait(timeout=20.0)
+        assert controller_flag, "ROSbot does not rotate properly. Check rosbot_xl_base_controller!"
+        assert ekf_flag, "ROSbot does not rotate properly. Check ekf_filter_node!"
+
+        flag = node.scan_event.wait(timeout=20.0)
+        assert flag, "ROSbot's lidar does not work properly!"
+
+    finally:
+        # The pytest cannot kill properly the Gazebo Ignition's tasks what blocks launching
+        # several tests in a row.
+        kill_ign_linux_processes()
+        rclpy.shutdown()

rosbot_xl_gazebo/test/test_flake8.py

@@ -0,0 +1,23 @@
+# Copyright 2017 Open Source Robotics Foundation, 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.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, "Found %d code style errors / warnings:\n" % len(errors) + "\n".join(errors)

rosbot_xl_gazebo/test/test_ign_kill_utils.py

@@ -0,0 +1,38 @@
+# Copyright 2023 Husarion
+#
+# 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 subprocess
+
+# The pytest cannot kill properly the Gazebo Ignition's tasks what blocks launching
+# several tests in a row.
+
+
+def kill_ign_linux_processes():
+    try:
+        result = subprocess.run(
+            ["pgrep", "-f", "ign gazebo"],
+            capture_output=True,
+            text=True,
+            check=True,
+        )
+
+        pids = result.stdout.strip().split("\n")
+        for pid in pids:
+            subprocess.run(["kill", pid], check=True)
+        print("Killed all Ignition Gazebo processes")
+    except subprocess.CalledProcessError as e:
+        print(e)
+
+
+kill_ign_linux_processes()