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[gazebo_plugins] Rapid projector toggle rostest #419

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[gazebo_plugins] Rapid projector toggle rostest #419

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738348d
Going to make test to toggle a texture projector rapidly to see if I …
lucasw Apr 5, 2016
f43861e
Interim checkin, not sure how to make projector in a world file.
lucasw Apr 5, 2016
5bf8cd8
Can successfully display a slightly glitchy projector (there is a nar…
lucasw Apr 6, 2016
9ab2123
Now have the plugin hooked up correctly to the world file, so the tog…
lucasw Apr 8, 2016
7af71ea
Still no crashes with two alternating projectors
lucasw Apr 8, 2016
4c03f90
Now have working rostest for the projector toggling.
lucasw Apr 9, 2016
d390869
Now gazebo can find checker.png
lucasw Apr 9, 2016
367f201
re-enabling all tests
lucasw Jul 4, 2016
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2 changes: 2 additions & 0 deletions gazebo_plugins/CMakeLists.txt
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Expand Up @@ -351,4 +351,6 @@ if (CATKIN_ENABLE_TESTING)
test/set_model_state_test/set_model_state_test.cpp)
add_rostest(test/range/range_plugin.test)
target_link_libraries(set_model_state-test ${catkin_LIBRARIES})

add_rostest(test/projector/projector.test)
endif()
Binary file added gazebo_plugins/test/projector/checker.png
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16 changes: 16 additions & 0 deletions gazebo_plugins/test/projector/projector.test
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<?xml version="1.0"?>
<launch>
<arg name="gui" default="false"/>
<env name="GAZEBO_RESOURCE_PATH" value="$(find gazebo_plugins)/test/projector" />
<node name="gazebo_projector" pkg="gazebo_ros" type="gzserver"
args="$(find gazebo_plugins)/test/projector/projector.world"
output="screen"/>

<group if="$(arg gui)">
<node name="gazebo_gui" pkg="gazebo_ros" type="gzclient"
respawn="false" output="screen"/>
</group>

<test test-name="test_projector" pkg="gazebo_plugins" type="toggle.py">
</test>
</launch>
144 changes: 144 additions & 0 deletions gazebo_plugins/test/projector/projector.world
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<?xml version="1.0" ?>
<sdf version="1.4">
<!--
cd ~/catkin_ws/src/gazebo_ros_pkgs/gazebo_plugins/test/projector
GAZEBO_RESOURCE_PATH=`pwd` roslaunch gazebo_plugins projector.test gui:=true
rostopic pub /projector_plugin/projector std_msgs/Int32 "data: 0"
rostopic pub /projector_plugin/projector std_msgs/Int32 "data: 1"
-->
<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>2.0 0.0 4.0 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>
</link>
</model>

<model name="projector_model">
<static>true</static>
<pose>0.0 0.0 0.5 0.0 0.0 0.0</pose>
<link name="projector_link">
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<projector name="projector_plugin_test">
<pose>0 0 0 0 0 0</pose>
<texture>checker.png</texture>
<fov>1.4</fov>
<near_clip>0.1</near_clip>
<far_clip>6</far_clip>
</projector>
</link>
<plugin name="projector_plugin" filename="libgazebo_ros_projector.so">
<projector>projector_link/projector_plugin_test</projector>
<alwaysOn>false</alwaysOn>
<updateRate>15.0</updateRate>
<textureName>checker.png</textureName>
<textureTopicName>projector_plugin/image</textureTopicName>
<projectorTopicName>projector_plugin/projector</projectorTopicName>
</plugin>
</model>


<model name="projector_model2">
<static>true</static>
<pose>0.25 0.0 0.5 0.0 0.0 0.0</pose>
<link name="projector_link2">
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<projector name="projector_plugin_test2">
<pose>0 0 0 0 0 0</pose>
<texture>checker.png</texture>
<fov>1.4</fov>
<near_clip>0.1</near_clip>
<far_clip>6</far_clip>
</projector>
</link>
<plugin name="projector_plugin2" filename="libgazebo_ros_projector.so">
<projector>projector_link2/projector_plugin_test2</projector>
<alwaysOn>false</alwaysOn>
<updateRate>15.0</updateRate>
<textureName>checker.png</textureName>
<textureTopicName>projector_plugin2/image</textureTopicName>
<projectorTopicName>projector_plugin2/projector</projectorTopicName>
</plugin>
</model>

</world>
</sdf>
49 changes: 49 additions & 0 deletions gazebo_plugins/test/projector/projector.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">

<xacro:arg name="laser_texture"
default="$(find gazebo_plugins)/test/projector/checker.png" />

<link name="world"/>

<joint name="joint_projector" type="fixed">
<origin xyz="0 0 2.0" rpy="0.0 0 0" />
<parent link="world" />
<child link="link_projector" />
</joint>

<link name="link_projector">
<visual>
<geometry>
<cylinder length="0.2" radius="0.05" />
</geometry>
</visual>
<inertial>
<mass value="1.0"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
</inertial>
</link>

<gazebo reference="link_projector">
<projector name="projector_test_1">
<!-- setting the pose will produce glitches even when attached to a revolute joint -->
<pose>0 0 0 0 0 0</pose>
<texture>$(arg texture)</texture>
<fov>0.95</fov>
<near_clip>0.1</near_clip>
<far_clip>10.0</far_clip>
</projector>
</gazebo>
<gazebo>
<plugin name="projector_controller" filename="libgazebo_ros_projector.so">
<projector>link_projector/projector_test_1</projector>
<alwaysOn>true</alwaysOn>
<updateRate>15.0</updateRate>
<textureName>$(arg texture)</textureName>
<!--filterTextureName>stereo_projection_pattern_filter.png</filterTextureName-->
<textureTopicName>projector_controller/image</textureTopicName>
<projectorTopicName>projector_controller/projector</projectorTopicName>
</plugin>
</gazebo>

</robot>
31 changes: 31 additions & 0 deletions gazebo_plugins/test/projector/toggle.py
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#!/usr/bin/env python

import rospy
import unittest

from std_msgs.msg import Int32

class TestProjectorToggle(unittest.TestCase):
def setUp(self):
rospy.init_node('toggle')
def test_projector_toggle(self):
pub = rospy.Publisher("/projector_plugin/projector", Int32, queue_size=5)
pub2 = rospy.Publisher("/projector_plugin2/projector", Int32, queue_size=5)
toggle = True
start_time = None
while not rospy.is_shutdown():
for i in range(3):
pub.publish(Int32(int(toggle)))
pub2.publish(Int32(int(not toggle)))
toggle = not toggle
rospy.sleep(0.5)
cur_time = rospy.Time.now().to_sec()
if start_time is None:
start_time = cur_time
if cur_time - start_time > 10:
break
# print cur_time - start_time, start_time, cur_time

if __name__ == '__main__':
import rostest
rostest.rosrun('gazebo_plugins', 'test_projector_toggle', TestProjectorToggle)