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ros-simulation#408 Making a test for multicamra that shows the timest…
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…amps are currently outdated, will fix them similar to how the regular camera was fixed.
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@lucasw
lucasw committed Oct 18, 2016
1 parent d00bd47 commit 3fb2fea
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Showing 4 changed files with 263 additions and 1 deletion.
6 changes: 5 additions & 1 deletion gazebo_plugins/CMakeLists.txt
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Expand Up @@ -370,7 +370,11 @@ if (CATKIN_ENABLE_TESTING)
add_rostest(test/range/range_plugin.test)
target_link_libraries(set_model_state-test ${catkin_LIBRARIES})

# Can't run this and the above test together
# Can't run these and the above test together
add_rostest_gtest(multicamera-test
test/camera/multicamera.test
test/camera/multicamera.cpp)
target_link_libraries(multicamera-test ${catkin_LIBRARIES})
# add_rostest_gtest(camera-test
# test/camera/camera.test
# test/camera/camera.cpp)
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101 changes: 101 additions & 0 deletions gazebo_plugins/test/camera/multicamera.cpp
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#include <gtest/gtest.h>
// #include <image_transport/image_transport.h>
// #include <image_transport/subscriber_filter.h>
// #include <message_filters/sync_policies/approximate_time.h>
#include <message_filters/subscriber.h>
#include <message_filters/time_synchronizer.h>
#include <ros/ros.h>
#include <sensor_msgs/Image.h>

class MultiCameraTest : public testing::Test
{
protected:
virtual void SetUp()
{
has_new_image_ = false;
}

ros::NodeHandle nh_;
// image_transport::SubscriberFilter cam_left_sub_;
// image_transport::SubscriberFilter cam_right_sub_;
message_filters::Subscriber<sensor_msgs::Image> cam_left_sub_;
message_filters::Subscriber<sensor_msgs::Image> cam_right_sub_;

bool has_new_image_;
ros::Time image_left_stamp_;
ros::Time image_right_stamp_;

// typedef message_filters::sync_policies::ApproximateTime<
// sensor_msgs::Image, sensor_msgs::Image
// > MySyncPolicy;
// message_filters::Synchronizer< MySyncPolicy > sync_;


public:
void imageCallback(
const sensor_msgs::ImageConstPtr& left_msg,
const sensor_msgs::ImageConstPtr& right_msg)
{
image_left_stamp_ = left_msg->header.stamp;
image_right_stamp_ = right_msg->header.stamp;
has_new_image_ = true;
}
};

// Test if the camera image is published at all, and that the timestamp
// is not too long in the past.
TEST_F(MultiCameraTest, cameraSubscribeTest)
{
// image_transport::ImageTransport it(nh_);
// cam_left_sub_.subscribe(it, "stereo/camera/left/image_raw", 1);
// cam_right_sub_.subscribe(it, "stereo/camera/right/image_raw", 1);
// sync_ = message_filters::Synchronizer<MySyncPolicy>(
// MySyncPolicy(4), cam_left_sub_, cam_right_sub_);
cam_left_sub_.subscribe(nh_, "stereo/camera/left/image_raw", 1);
cam_right_sub_.subscribe(nh_, "stereo/camera/right/image_raw", 1);
message_filters::TimeSynchronizer<sensor_msgs::Image, sensor_msgs::Image> sync(
cam_left_sub_, cam_right_sub_, 4);
sync.registerCallback(boost::bind(&MultiCameraTest::imageCallback,
dynamic_cast<MultiCameraTest*>(this), _1, _2));
#if 0
// wait for gazebo to start publishing
// TODO(lucasw) this isn't really necessary since this test
// is purely passive
bool wait_for_topic = true;
while (wait_for_topic)
{
// @todo this fails without the additional 0.5 second sleep after the
// publisher comes online, which means on a slower or more heavily
// loaded system it may take longer than 0.5 seconds, and the test
// would hang until the timeout is reached and fail.
if (cam_sub_.getNumPublishers() > 0)
wait_for_topic = false;
ros::Duration(0.5).sleep();
}
#endif

while (!has_new_image_)
{
ros::spinOnce();
ros::Duration(0.1).sleep();
}

double sync_diff = (image_left_stamp_ - image_right_stamp_).toSec();
EXPECT_EQ(sync_diff, 0.0);

// This check depends on the update period being much longer
// than the expected difference between now and the received image time
// TODO(lucasw)
// this likely isn't that robust - what if the testing system is really slow?
double time_diff = (ros::Time::now() - image_left_stamp_).toSec();
ROS_INFO_STREAM(time_diff);
EXPECT_LT(time_diff, 0.5);
// cam_sub_.shutdown();
}

int main(int argc, char** argv)
{
ros::init(argc, argv, "gazebo_multicamera_test");
testing::InitGoogleTest(&argc, argv);
return RUN_ALL_TESTS();
}
11 changes: 11 additions & 0 deletions gazebo_plugins/test/camera/multicamera.test
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<?xml version="1.0"?>
<launch>
<param name="/use_sim_time" value="true" />

<node name="gazebo" pkg="gazebo_ros" type="gzserver"
respawn="false" output="screen"
args="-r $(find gazebo_plugins)/test/camera/multicamera.world" />

<test test-name="multicamera" pkg="gazebo_plugins" type="multicamera-test"
clear_params="true" time-limit="15.0" />
</launch>
146 changes: 146 additions & 0 deletions gazebo_plugins/test/camera/multicamera.world
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<?xml version="1.0" ?>
<sdf version="1.4">

<world name="default">
<include>
<uri>model://ground_plane</uri>
</include>

<!-- Global light source -->
<include>
<uri>model://sun</uri>
</include>

<!-- Focus camera on tall pendulum -->
<gui fullscreen='0'>
<camera name='user_camera'>
<pose>4.927360 -4.376610 3.740080 0.000000 0.275643 2.356190</pose>
<view_controller>orbit</view_controller>
</camera>
</gui>

<model name="model_1">
<static>false</static>
<pose>0.0 2.0 2.0 0.0 0.0 0.0</pose>
<link name="link_1">
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<inertial>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<inertia>
<ixx>1.0</ixx>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyy>1.0</iyy>
<iyz>0.0</iyz>
<izz>1.0</izz>
</inertia>
<mass>10.0</mass>
</inertial>
<visual name="visual_sphere">
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<geometry>
<sphere>
<radius>0.5</radius>
</sphere>
</geometry>
<material>
<ambient>0.03 0.5 0.5 1.0</ambient>
<script>Gazebo/Green</script>
</material>
<cast_shadows>true</cast_shadows>
<laser_retro>100.0</laser_retro>
</visual>
<collision name="collision_sphere">
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<max_contacts>250</max_contacts>
<geometry>
<sphere>
<radius>0.5</radius>
</sphere>
</geometry>
<surface>
<friction>
<ode>
<mu>0.5</mu>
<mu2>0.2</mu2>
<fdir1>1.0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1000000.0</threshold>
</bounce>
<contact>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e15</kp>
<kd>1e13</kd>
<max_vel>100.0</max_vel>
<min_depth>0.0001</min_depth>
</ode>
</contact>
</surface>
<laser_retro>100.0</laser_retro>
</collision>

<sensor type="multicamera" name="stereo_camera">
<update_rate>0.1</update_rate>
<camera name="left">
<horizontal_fov>1.3962634</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.02</near>
<far>300</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<camera name="right">
<pose>0 -0.07 0 0 0 0</pose>
<horizontal_fov>1.3962634</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.02</near>
<far>300</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<plugin name="stereo_camera_controller" filename="libgazebo_ros_multicamera.so">
<alwaysOn>true</alwaysOn>
<updateRate>0.0</updateRate>
<cameraName>stereo/camera</cameraName>
<imageTopicName>image_raw</imageTopicName>
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
<frameName>left_camera_optical_frame</frameName>
<!--<rightFrameName>right_camera_optical_frame</rightFrameName>-->
<hackBaseline>0.07</hackBaseline>
<distortionK1>0.0</distortionK1>
<distortionK2>0.0</distortionK2>
<distortionK3>0.0</distortionK3>
<distortionT1>0.0</distortionT1>
<distortionT2>0.0</distortionT2>
</plugin>
</sensor>
</link>
</model>

</world>
</sdf>

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