This file describes steps to perform test on the robot localization package for ROS2 (bouncy) and other required stuff.
Overview:
robot_localization is a package of nonlinear state estimation nodes.
List of changes from ROS to ROS2:
The changes has been done by following the Migration guide for ROS2( https://index.ros.org/doc/ros2/Migration-Guide/ ).
1. Migrated all test.cpp into ROS2 style
2. Migrated yaml files into ROS2 style
3. Migrated .test files into launch.py in ROS2 style
4. Migrated CMakeLists.txt and package.xml
5. Created Automated scripts in order to run test cases
6. Added .travis.yml file in order to check for CI build
7. Followed cosmetics rules and updated the files with cppcheck, cpplint and uncrustify rules.
Pre-requisites:
1. System should have installed bouncy distro. Check out installation instructions and tutorials https://index.ros.org/doc/ros2/.
2. User should checkout launch pkg & build (Refer steps below).
Steps to checkout launch pkg (master) & build:
1. Open the new terminal and run below commands.
2. mkdir -p rl_ws/src
3. cd ~/rl_ws/src
4. git clone [email protected]:ros2/launch.git
5. cd ~/rl_ws
6. source /opt/ros/bouncy/setup.bash
7. colcon build
3. System should have checkout ros2 robot_localization pkg & build (Refer Steps below).
Steps to checkout robot_localization pkg & build:
1. cd ~/rl_ws/src
2. git clone [email protected]:Rohita83/robot_localization.git
#git branch -ra //This command will show different branches of main git on #kinetic
3. cd robot_localization/
4. git checkout -b ros2 remotes/origin/ros2
5. cd ~/rl_ws
6. source /opt/ros/bouncy/setup.bash
7. colcon build
4. System should have both ROS1 & ROS2. Note: We have verified on ROS1(i.e. melodic) & ROS2 (i.e. bouncy).
5. ros1_bridge pkg should be available in ros2 workspace i.e. ros2_ws.
Limitations:-
1. colcon test does not work as launch.py files can not be executed/added with CMakeLists.txt as of now.
2. Each test/launch.py files have been tested independently.
3. Use of ros1 bridge to play rosbag files as rosbag is not available in ros2.
4. Bag related testcases launch files will not terminate automatically i.e. user will have to do manually ctrl+C once bag is stop.
Future Work:-
1. All Test launch.py files should be executed using "colcon test" automatically. Currently we have built automated script "robot_localization_test_cases.sh" which performs all the test cases except bag related test cases.For bag related test cases also, respective scripts are available.
2. Remove the dependency with ros1_bridge to play bag file from ROS1 using rosbag.
TESTING
There are two ways to run the test cases:
1. Using automated scripts
The script files are placed in the /test folder of robot localization.
Run the test cases as follows:-
# Goto workspace path and set the source accordingly.
cd ~/rl_ws
Note: Do not forget to source the install "source install/setup.bash"
./src/robot_localization/test/robot_localization_test_cases.sh -> to run all other test cases except bag related test cases
./src/robot_localization/test/test_ekf_localization_node_bag1.sh -> to run the bag1 ekf test case
./src/robot_localization/test/test_ekf_localization_node_bag2.sh -> to run the bag2 ekf test case
./src/robot_localization/test/test_ekf_localization_node_bag3.sh -> to run the bag3 ekf test case
./src/robot_localization/test/test_ukf_localization_node_bag1.sh -> to run the bag1 ukf test case
./src/robot_localization/test/test_ukf_localization_node_bag2.sh -> to run the bag2 ukf test case
./src/robot_localization/test/test_ukf_localization_node_bag3.sh -> to run the bag3 ukf test case
With bag related scripts, multiple terminals will be opened, check the terminal on which bag is playing.Once bag is stoped, check the terminal on which launch.py is running, you will see, test cases are passing after pressing ctrl+c.
2. Using launch files independently
Below are the steps to run the test case independently using launch files.
In order to run the UKF related test cases, follow same steps as of EKF. Just replace ekf with ukf.
e.g. test_ukf_localization_node_bag1.launch.py
1)test_ekf_localization_node_bag1.launch.py
Terminal1:-
source /opt/ros/melodic/setup.bash
roscore
Terminal2:- (Run ros1_bridge):-
source ~/ros2_ws/install/setup.bash
source /opt/ros/melodic/setup.bash
ros2 run ros1_bridge dynamic_bridge --bridge-all-topics
Terminal3:- (Play .bag from ROS1):-
source /opt/ros/melodic/setup.bash
rosparam set /use_sim_time true
rosbag play ~/rl_ws/src/robot_localization/test/test1.bag --clock -d 5
Terminal4:- (Launch TestCase launch.py):-
source /opt/ros/bouncy/setup.bash
source ~/rl_ws/install/setup.bash
ros2 launch robot_localization test_ekf_localization_node_bag1.launch.py
Terminal5:- (Run static_transform_publisher):-
source /opt/ros/bouncy/setup.bash
ros2 run tf2_ros static_transform_publisher 0 -0.3 0.52 -1.570796327 0 1.570796327 base_link imu_link
2)test_ekf_localization_node_bag2.launch.py
Terminal1:-
source /opt/ros/melodic/setup.bash
roscore
Terminal2:- (Run ros1_bridge):-
source ~/ros2_ws/install/setup.bash
source /opt/ros/melodic/setup.bash
ros2 run ros1_bridge dynamic_bridge --bridge-all-topics
Terminal3:- (Play .bag from ROS1):-
source /opt/ros/melodic/setup.bash
rosparam set /use_sim_time true
rosbag play ~/rl_ws/src/robot_localization/test/test2.bag --clock -d 5
Terminal4:- (Launch TestCase launch.py):-
source /opt/ros/bouncy/setup.bash
source ~/rl_ws/install/setup.bash
ros2 launch robot_localization test_ekf_localization_node_bag2.launch.py
3)test_ekf_localization_node_bag3.launch.py
Terminal1:-
source /opt/ros/melodic/setup.bash
roscore
Terminal2:- (Run ros1_bridge):-
source ~/ros2_ws/install/setup.bash
source /opt/ros/melodic/setup.bash
ros2 run ros1_bridge dynamic_bridge --bridge-all-topics
Terminal3:- (Play .bag from ROS1):-
source /opt/ros/melodic/setup.bash
rosparam set /use_sim_time true
rosbag play ~/rl_ws/src/robot_localization/test/test3.bag --clock -d 5
Terminal4:- (Launch TestCase launch.py):-
source /opt/ros/bouncy/setup.bash
source ~/rl_ws/install/setup.bash
ros2 launch robot_localization test_ekf_localization_node_bag3.launch.py
4)test_ekf_localization_node_interfaces.launch.py
Terminal1:- (Launch TestCase .launch.py)
source /opt/ros/bouncy/setup.bash
source ~/rl_ws/install/setup.bash
ros2 launch robot_localization test_ekf_localization_node_interfaces.launch.py
5)test_ekf.launch.py
Terminal1:- (Launch TestCase .launch.py)
source /opt/ros/bouncy/setup.bash
source ~/rl_ws/install/setup.bash
ros2 launch robot_localization test_ekf.launch.py