From 73bc6c5895595e28218de50423a0bb7794f0dc8f Mon Sep 17 00:00:00 2001 From: RobertWilbrandt Date: Sun, 27 Oct 2024 00:03:25 +0200 Subject: [PATCH] Implement new PoseBroadcaster controller (#1311) (cherry picked from commit 7c89c17a5cf6ac5d553c79ccc63182f2e1454388) # Conflicts: # doc/controllers_index.rst --- doc/controllers_index.rst | 13 ++ pose_broadcaster/CMakeLists.txt | 106 ++++++++++ pose_broadcaster/README.md | 8 + pose_broadcaster/doc/userdoc.rst | 27 +++ .../pose_broadcaster/pose_broadcaster.hpp | 77 +++++++ .../pose_broadcaster/visibility_control.h | 49 +++++ pose_broadcaster/package.xml | 30 +++ pose_broadcaster/pose_broadcaster.xml | 9 + pose_broadcaster/src/pose_broadcaster.cpp | 195 +++++++++++++++++ .../src/pose_broadcaster_parameters.yaml | 32 +++ .../test/pose_broadcaster_params.yaml | 4 + .../test/test_load_pose_broadcaster.cpp | 50 +++++ .../test/test_pose_broadcaster.cpp | 198 ++++++++++++++++++ .../test/test_pose_broadcaster.hpp | 96 +++++++++ 14 files changed, 894 insertions(+) create mode 100644 pose_broadcaster/CMakeLists.txt create mode 100644 pose_broadcaster/README.md create mode 100644 pose_broadcaster/doc/userdoc.rst create mode 100644 pose_broadcaster/include/pose_broadcaster/pose_broadcaster.hpp create mode 100644 pose_broadcaster/include/pose_broadcaster/visibility_control.h create mode 100644 pose_broadcaster/package.xml create mode 100644 pose_broadcaster/pose_broadcaster.xml create mode 100644 pose_broadcaster/src/pose_broadcaster.cpp create mode 100644 pose_broadcaster/src/pose_broadcaster_parameters.yaml create mode 100644 pose_broadcaster/test/pose_broadcaster_params.yaml create mode 100644 pose_broadcaster/test/test_load_pose_broadcaster.cpp create mode 100644 pose_broadcaster/test/test_pose_broadcaster.cpp create mode 100644 pose_broadcaster/test/test_pose_broadcaster.hpp diff --git a/doc/controllers_index.rst b/doc/controllers_index.rst index e677c191b3..8f63185e26 100644 --- a/doc/controllers_index.rst +++ b/doc/controllers_index.rst @@ -70,3 +70,16 @@ In the sense of ros2_control, broadcasters are still controllers using the same IMU Sensor Broadcaster <../imu_sensor_broadcaster/doc/userdoc.rst> Joint State Broadcaster <../joint_state_broadcaster/doc/userdoc.rst> Range Sensor Broadcaster <../range_sensor_broadcaster/doc/userdoc.rst> +<<<<<<< HEAD +======= + Pose Broadcaster <../pose_broadcaster/doc/userdoc.rst> + + +Common Controller Parameters +**************************** + +Every controller and broadcaster has a few common parameters. They are optional, but if needed they have to be set before ``onConfigure`` transition to ``inactive`` state, see `lifecycle documents `__. Once the controllers are already loaded, this transition is done using the service ``configure_controller`` of the controller_manager. + +* ``update_rate``: An unsigned integer parameter representing the rate at which every controller/broadcaster runs its update cycle. When unspecified, they run at the same frequency as the controller_manager. +* ``is_async``: A boolean parameter that is needed to specify if the controller update needs to run asynchronously. +>>>>>>> 7c89c17 (Implement new PoseBroadcaster controller (#1311)) diff --git a/pose_broadcaster/CMakeLists.txt b/pose_broadcaster/CMakeLists.txt new file mode 100644 index 0000000000..46028cf258 --- /dev/null +++ b/pose_broadcaster/CMakeLists.txt @@ -0,0 +1,106 @@ +cmake_minimum_required(VERSION 3.16) +project(pose_broadcaster + LANGUAGES + CXX +) + +if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)") + add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable + -Werror=return-type -Werror=shadow -Werror=format) +endif() + +set(THIS_PACKAGE_INCLUDE_DEPENDS + controller_interface + generate_parameter_library + geometry_msgs + hardware_interface + pluginlib + rclcpp + rclcpp_lifecycle + realtime_tools + tf2_msgs +) + +find_package(ament_cmake REQUIRED) +find_package(backward_ros REQUIRED) +foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS}) + find_package(${Dependency} REQUIRED) +endforeach() + +generate_parameter_library(pose_broadcaster_parameters + src/pose_broadcaster_parameters.yaml +) + +add_library(pose_broadcaster SHARED + src/pose_broadcaster.cpp +) +target_compile_features(pose_broadcaster PUBLIC + cxx_std_17 +) +target_include_directories(pose_broadcaster PUBLIC + $ + $ +) +target_link_libraries(pose_broadcaster PUBLIC + pose_broadcaster_parameters +) +ament_target_dependencies(pose_broadcaster PUBLIC + ${THIS_PACKAGE_INCLUDE_DEPENDS} +) + +# Causes the visibility macros to use dllexport rather than dllimport, +# which is appropriate when building the dll but not consuming it. +target_compile_definitions(pose_broadcaster PRIVATE "POSE_BROADCASTER_BUILDING_DLL") + +pluginlib_export_plugin_description_file( + controller_interface pose_broadcaster.xml +) + +if(BUILD_TESTING) + find_package(ament_cmake_gmock REQUIRED) + find_package(controller_manager REQUIRED) + find_package(hardware_interface REQUIRED) + find_package(ros2_control_test_assets REQUIRED) + + add_definitions(-DTEST_FILES_DIRECTORY="${CMAKE_CURRENT_SOURCE_DIR}/test") + ament_add_gmock(test_load_pose_broadcaster + test/test_load_pose_broadcaster.cpp + ) + target_link_libraries(test_load_pose_broadcaster + pose_broadcaster + ) + ament_target_dependencies(test_load_pose_broadcaster + controller_manager + ros2_control_test_assets + ) + + add_rostest_with_parameters_gmock(test_pose_broadcaster + test/test_pose_broadcaster.cpp + ${CMAKE_CURRENT_SOURCE_DIR}/test/pose_broadcaster_params.yaml + ) + target_link_libraries(test_pose_broadcaster + pose_broadcaster + ) + ament_target_dependencies(test_pose_broadcaster + hardware_interface + ) +endif() + +install( + DIRECTORY + include/ + DESTINATION include/${PROJECT_NAME} +) +install( + TARGETS + pose_broadcaster + pose_broadcaster_parameters + EXPORT export_${PROJECT_NAME} + RUNTIME DESTINATION bin + ARCHIVE DESTINATION lib + LIBRARY DESTINATION lib +) + +ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET) +ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS}) +ament_package() diff --git a/pose_broadcaster/README.md b/pose_broadcaster/README.md new file mode 100644 index 0000000000..bf47411048 --- /dev/null +++ b/pose_broadcaster/README.md @@ -0,0 +1,8 @@ +pose_broadcaster +========================================== + +Controller to publish poses provided by pose sensors. + +Pluginlib-Library: pose_broadcaster + +Plugin: pose_broadcaster/PoseBroadcaster (controller_interface::ControllerInterface) diff --git a/pose_broadcaster/doc/userdoc.rst b/pose_broadcaster/doc/userdoc.rst new file mode 100644 index 0000000000..0ae40e2fad --- /dev/null +++ b/pose_broadcaster/doc/userdoc.rst @@ -0,0 +1,27 @@ +:github_url: https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/pose_broadcaster/doc/userdoc.rst + +.. _pose_broadcaster_userdoc: + +Pose Broadcaster +-------------------------------- +Broadcaster for poses measured by a robot or a sensor. +Poses are published as ``geometry_msgs/msg/PoseStamped`` messages and optionally as tf transforms. + +The controller is a wrapper around the ``PoseSensor`` semantic component (see ``controller_interface`` package). + +Parameters +^^^^^^^^^^^ +This controller uses the `generate_parameter_library `_ to handle its parameters. The parameter `definition file located in the src folder `_ contains descriptions for all the parameters used by the controller. + +List of parameters +========================= +.. generate_parameter_library_details:: ../src/pose_broadcaster_parameters.yaml + + +An example parameter file +========================= + +An example parameter file for this controller can be found in `the test directory `_: + +.. literalinclude:: ../test/pose_broadcaster_params.yaml + :language: yaml diff --git a/pose_broadcaster/include/pose_broadcaster/pose_broadcaster.hpp b/pose_broadcaster/include/pose_broadcaster/pose_broadcaster.hpp new file mode 100644 index 0000000000..621a90cc85 --- /dev/null +++ b/pose_broadcaster/include/pose_broadcaster/pose_broadcaster.hpp @@ -0,0 +1,77 @@ +// Copyright 2024 FZI Forschungszentrum Informatik +// +// 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. +#ifndef POSE_BROADCASTER__POSE_BROADCASTER_HPP_ +#define POSE_BROADCASTER__POSE_BROADCASTER_HPP_ + +#include +#include +#include +#include + +#include "controller_interface/controller_interface.hpp" +#include "geometry_msgs/msg/pose_stamped.hpp" +#include "pose_broadcaster/visibility_control.h" +#include "pose_broadcaster_parameters.hpp" +#include "rclcpp/publisher.hpp" +#include "rclcpp_lifecycle/state.hpp" +#include "realtime_tools/realtime_publisher.h" +#include "semantic_components/pose_sensor.hpp" +#include "tf2_msgs/msg/tf_message.hpp" + +namespace pose_broadcaster +{ + +class PoseBroadcaster : public controller_interface::ControllerInterface +{ +public: + POSE_BROADCASTER_PUBLIC controller_interface::InterfaceConfiguration + command_interface_configuration() const override; + + POSE_BROADCASTER_PUBLIC controller_interface::InterfaceConfiguration + state_interface_configuration() const override; + + POSE_BROADCASTER_PUBLIC controller_interface::CallbackReturn on_init() override; + + POSE_BROADCASTER_PUBLIC controller_interface::CallbackReturn on_configure( + const rclcpp_lifecycle::State & previous_state) override; + + POSE_BROADCASTER_PUBLIC controller_interface::CallbackReturn on_activate( + const rclcpp_lifecycle::State & previous_state) override; + + POSE_BROADCASTER_PUBLIC controller_interface::CallbackReturn on_deactivate( + const rclcpp_lifecycle::State & previous_state) override; + + POSE_BROADCASTER_PUBLIC controller_interface::return_type update( + const rclcpp::Time & time, const rclcpp::Duration & period) override; + +private: + std::shared_ptr param_listener_; + Params params_; + + std::unique_ptr pose_sensor_; + + rclcpp::Publisher::SharedPtr pose_publisher_; + std::unique_ptr> + realtime_publisher_; + + std::optional tf_publish_period_; + rclcpp::Time tf_last_publish_time_{0, 0, RCL_CLOCK_UNINITIALIZED}; + rclcpp::Publisher::SharedPtr tf_publisher_; + std::unique_ptr> + realtime_tf_publisher_; +}; + +} // namespace pose_broadcaster + +#endif // POSE_BROADCASTER__POSE_BROADCASTER_HPP_ diff --git a/pose_broadcaster/include/pose_broadcaster/visibility_control.h b/pose_broadcaster/include/pose_broadcaster/visibility_control.h new file mode 100644 index 0000000000..5ce272658d --- /dev/null +++ b/pose_broadcaster/include/pose_broadcaster/visibility_control.h @@ -0,0 +1,49 @@ +// Copyright 2024 FZI Forschungszentrum Informatik +// +// 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. + +#ifndef POSE_BROADCASTER__VISIBILITY_CONTROL_H_ +#define POSE_BROADCASTER__VISIBILITY_CONTROL_H_ + +// This logic was borrowed (then namespaced) from the examples on the gcc wiki: +// https://gcc.gnu.org/wiki/Visibility + +#if defined _WIN32 || defined __CYGWIN__ +#ifdef __GNUC__ +#define POSE_BROADCASTER_EXPORT __attribute__((dllexport)) +#define POSE_BROADCASTER_IMPORT __attribute__((dllimport)) +#else +#define POSE_BROADCASTER_EXPORT __declspec(dllexport) +#define POSE_BROADCASTER_IMPORT __declspec(dllimport) +#endif +#ifdef POSE_BROADCASTER_BUILDING_DLL +#define POSE_BROADCASTER_PUBLIC POSE_BROADCASTER_EXPORT +#else +#define POSE_BROADCASTER_PUBLIC POSE_BROADCASTER_IMPORT +#endif +#define POSE_BROADCASTER_PUBLIC_TYPE POSE_BROADCASTER_PUBLIC +#define POSE_BROADCASTER_LOCAL +#else +#define POSE_BROADCASTER_EXPORT __attribute__((visibility("default"))) +#define POSE_BROADCASTER_IMPORT +#if __GNUC__ >= 4 +#define POSE_BROADCASTER_PUBLIC __attribute__((visibility("default"))) +#define POSE_BROADCASTER_LOCAL __attribute__((visibility("hidden"))) +#else +#define POSE_BROADCASTER_PUBLIC +#define POSE_BROADCASTER_LOCAL +#endif +#define POSE_BROADCASTER_PUBLIC_TYPE +#endif + +#endif // POSE_BROADCASTER__VISIBILITY_CONTROL_H_ diff --git a/pose_broadcaster/package.xml b/pose_broadcaster/package.xml new file mode 100644 index 0000000000..eae2ccad2c --- /dev/null +++ b/pose_broadcaster/package.xml @@ -0,0 +1,30 @@ + + + + pose_broadcaster + 0.0.0 + Broadcaster to publish cartesian states. + Robert Wilbrandt + + Apache License 2.0 + + ament_cmake + + backward_ros + controller_interface + generate_parameter_library + geometry_msgs + pluginlib + rclcpp + rclcpp_lifecycle + realtime_tools + tf2_msgs + + ament_cmake_gmock + controller_manager + ros2_control_test_assets + + + ament_cmake + + diff --git a/pose_broadcaster/pose_broadcaster.xml b/pose_broadcaster/pose_broadcaster.xml new file mode 100644 index 0000000000..6578958004 --- /dev/null +++ b/pose_broadcaster/pose_broadcaster.xml @@ -0,0 +1,9 @@ + + + + This controller publishes a Cartesian state as a geometry_msgs/PoseStamped message and optionally as a tf transform. + + + diff --git a/pose_broadcaster/src/pose_broadcaster.cpp b/pose_broadcaster/src/pose_broadcaster.cpp new file mode 100644 index 0000000000..7e3aeaddf3 --- /dev/null +++ b/pose_broadcaster/src/pose_broadcaster.cpp @@ -0,0 +1,195 @@ +// Copyright 2024 FZI Forschungszentrum Informatik +// +// 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. +#include "pose_broadcaster/pose_broadcaster.hpp" + +namespace +{ + +constexpr auto DEFAULT_POSE_TOPIC = "~/pose"; +constexpr auto DEFAULT_TF_TOPIC = "/tf"; + +} // namespace + +namespace pose_broadcaster +{ + +controller_interface::InterfaceConfiguration PoseBroadcaster::command_interface_configuration() + const +{ + controller_interface::InterfaceConfiguration command_interfaces_config; + command_interfaces_config.type = controller_interface::interface_configuration_type::NONE; + return command_interfaces_config; +} + +controller_interface::InterfaceConfiguration PoseBroadcaster::state_interface_configuration() const +{ + controller_interface::InterfaceConfiguration state_interfaces_config; + state_interfaces_config.type = controller_interface::interface_configuration_type::INDIVIDUAL; + state_interfaces_config.names = pose_sensor_->get_state_interface_names(); + + return state_interfaces_config; +} + +controller_interface::CallbackReturn PoseBroadcaster::on_init() +{ + try + { + param_listener_ = std::make_shared(get_node()); + params_ = param_listener_->get_params(); + } + catch (const std::exception & ex) + { + fprintf(stderr, "Exception thrown during init stage with message: %s\n", ex.what()); + return controller_interface::CallbackReturn::ERROR; + } + + return controller_interface::CallbackReturn::SUCCESS; +} + +controller_interface::CallbackReturn PoseBroadcaster::on_configure( + const rclcpp_lifecycle::State & /*previous_state*/) +{ + params_ = param_listener_->get_params(); + + pose_sensor_ = std::make_unique(params_.pose_name); + tf_publish_period_ = + params_.tf.publish_rate == 0.0 + ? std::nullopt + : std::optional{rclcpp::Duration::from_seconds(1.0 / params_.tf.publish_rate)}; + + try + { + pose_publisher_ = get_node()->create_publisher( + DEFAULT_POSE_TOPIC, rclcpp::SystemDefaultsQoS()); + realtime_publisher_ = + std::make_unique>( + pose_publisher_); + + if (params_.tf.enable) + { + tf_publisher_ = get_node()->create_publisher( + DEFAULT_TF_TOPIC, rclcpp::SystemDefaultsQoS()); + realtime_tf_publisher_ = + std::make_unique>( + tf_publisher_); + } + } + catch (const std::exception & ex) + { + fprintf( + stderr, "Exception thrown during publisher creation at configure stage with message: %s\n", + ex.what()); + return controller_interface::CallbackReturn::ERROR; + } + + // Initialize pose message + realtime_publisher_->lock(); + realtime_publisher_->msg_.header.frame_id = params_.frame_id; + realtime_publisher_->unlock(); + + // Initialize tf message if tf publishing is enabled + if (realtime_tf_publisher_) + { + realtime_tf_publisher_->lock(); + + realtime_tf_publisher_->msg_.transforms.resize(1); + auto & tf_transform = realtime_tf_publisher_->msg_.transforms.front(); + tf_transform.header.frame_id = params_.frame_id; + if (params_.tf.child_frame_id.empty()) + { + tf_transform.child_frame_id = params_.pose_name; + } + else + { + tf_transform.child_frame_id = params_.tf.child_frame_id; + } + + realtime_tf_publisher_->unlock(); + } + + return controller_interface::CallbackReturn::SUCCESS; +} + +controller_interface::CallbackReturn PoseBroadcaster::on_activate( + const rclcpp_lifecycle::State & /*previous_state*/) +{ + pose_sensor_->assign_loaned_state_interfaces(state_interfaces_); + return controller_interface::CallbackReturn::SUCCESS; +} + +controller_interface::CallbackReturn PoseBroadcaster::on_deactivate( + const rclcpp_lifecycle::State & /*previous_state*/) +{ + pose_sensor_->release_interfaces(); + return controller_interface::CallbackReturn::SUCCESS; +} + +controller_interface::return_type PoseBroadcaster::update( + const rclcpp::Time & time, const rclcpp::Duration & /*period*/) +{ + geometry_msgs::msg::Pose pose; + pose_sensor_->get_values_as_message(pose); + + if (realtime_publisher_ && realtime_publisher_->trylock()) + { + realtime_publisher_->msg_.header.stamp = time; + realtime_publisher_->msg_.pose = pose; + realtime_publisher_->unlockAndPublish(); + } + + if (realtime_tf_publisher_ && realtime_tf_publisher_->trylock()) + { + bool do_publish = false; + // rlcpp::Time comparisons throw if clock types are not the same + if (tf_last_publish_time_.get_clock_type() != time.get_clock_type()) + { + do_publish = true; + } + else if (!tf_publish_period_ || (tf_last_publish_time_ + *tf_publish_period_ <= time)) + { + do_publish = true; + } + + if (do_publish) + { + auto & tf_transform = realtime_tf_publisher_->msg_.transforms[0]; + tf_transform.header.stamp = time; + + tf_transform.transform.translation.x = pose.position.x; + tf_transform.transform.translation.y = pose.position.y; + tf_transform.transform.translation.z = pose.position.z; + + tf_transform.transform.rotation.x = pose.orientation.x; + tf_transform.transform.rotation.y = pose.orientation.y; + tf_transform.transform.rotation.z = pose.orientation.z; + tf_transform.transform.rotation.w = pose.orientation.w; + + realtime_tf_publisher_->unlockAndPublish(); + + tf_last_publish_time_ = time; + } + else + { + realtime_tf_publisher_->unlock(); + } + } + + return controller_interface::return_type::OK; +} + +} // namespace pose_broadcaster + +#include "pluginlib/class_list_macros.hpp" + +PLUGINLIB_EXPORT_CLASS(pose_broadcaster::PoseBroadcaster, controller_interface::ControllerInterface) diff --git a/pose_broadcaster/src/pose_broadcaster_parameters.yaml b/pose_broadcaster/src/pose_broadcaster_parameters.yaml new file mode 100644 index 0000000000..11c53b5e57 --- /dev/null +++ b/pose_broadcaster/src/pose_broadcaster_parameters.yaml @@ -0,0 +1,32 @@ +pose_broadcaster: + frame_id: + type: string + default_value: "" + description: "frame_id in which values are published" + validation: + not_empty<>: null + pose_name: + type: string + default_value: "" + description: "Base name used as prefix for controller interfaces. + The state interface names are: ``/position.x, ..., /position.z, + /orientation.x, ..., /orientation.w``" + validation: + not_empty<>: null + tf: + enable: + type: bool + default_value: true + description: "Whether to publish the pose as a tf transform" + child_frame_id: + type: string + default_value: "" + description: "Child frame id of published tf transforms. Defaults to ``pose_name`` if left + empty." + publish_rate: + type: double + default_value: 0.0 + description: "Rate to limit publishing of tf transforms to (Hz). If set to 0, no limiting is + performed." + validation: + gt_eq<>: 0.0 diff --git a/pose_broadcaster/test/pose_broadcaster_params.yaml b/pose_broadcaster/test/pose_broadcaster_params.yaml new file mode 100644 index 0000000000..a2f8477dd1 --- /dev/null +++ b/pose_broadcaster/test/pose_broadcaster_params.yaml @@ -0,0 +1,4 @@ +test_pose_broadcaster: + ros__parameters: + pose_name: "test_pose" + frame_id: "pose_frame" diff --git a/pose_broadcaster/test/test_load_pose_broadcaster.cpp b/pose_broadcaster/test/test_load_pose_broadcaster.cpp new file mode 100644 index 0000000000..bdf72d7b23 --- /dev/null +++ b/pose_broadcaster/test/test_load_pose_broadcaster.cpp @@ -0,0 +1,50 @@ +// Copyright 2024 FZI Forschungszentrum Informatik +// +// 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. +#include +#include + +#include "controller_manager/controller_manager.hpp" +#include "hardware_interface/resource_manager.hpp" +#include "rclcpp/executor.hpp" +#include "rclcpp/executors/single_threaded_executor.hpp" +#include "rclcpp/utilities.hpp" +#include "ros2_control_test_assets/descriptions.hpp" + +TEST(TestLoadPoseBroadcaster, load_controller) +{ + std::shared_ptr executor = + std::make_shared(); + + controller_manager::ControllerManager cm{ + executor, ros2_control_test_assets::minimal_robot_urdf, true, "test_controller_manager"}; + + const std::string test_file_path = + std::string{TEST_FILES_DIRECTORY} + "/pose_broadcaster_params.yaml"; + cm.set_parameter({"test_pose_broadcaster.params_file", test_file_path}); + + cm.set_parameter({"test_pose_broadcaster.type", "pose_broadcaster/PoseBroadcaster"}); + + ASSERT_NE(cm.load_controller("test_pose_broadcaster"), nullptr); +} + +int main(int argc, char * argv[]) +{ + ::testing::InitGoogleMock(&argc, argv); + rclcpp::init(argc, argv); + + int result = RUN_ALL_TESTS(); + rclcpp::shutdown(); + + return result; +} diff --git a/pose_broadcaster/test/test_pose_broadcaster.cpp b/pose_broadcaster/test/test_pose_broadcaster.cpp new file mode 100644 index 0000000000..0ed2e84619 --- /dev/null +++ b/pose_broadcaster/test/test_pose_broadcaster.cpp @@ -0,0 +1,198 @@ +// Copyright 2024 FZI Forschungszentrum Informatik +// +// 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. +#include "test_pose_broadcaster.hpp" + +#include +#include + +using hardware_interface::LoanedStateInterface; + +void PoseBroadcasterTest::SetUp() { pose_broadcaster_ = std::make_unique(); } + +void PoseBroadcasterTest::TearDown() { pose_broadcaster_.reset(nullptr); } + +void PoseBroadcasterTest::SetUpPoseBroadcaster() +{ + ASSERT_EQ( + pose_broadcaster_->init( + "test_pose_broadcaster", "", 0, "", pose_broadcaster_->define_custom_node_options()), + controller_interface::return_type::OK); + + std::vector state_interfaces; + state_interfaces.emplace_back(pose_position_x_); + state_interfaces.emplace_back(pose_position_y_); + state_interfaces.emplace_back(pose_position_z_); + state_interfaces.emplace_back(pose_orientation_x_); + state_interfaces.emplace_back(pose_orientation_y_); + state_interfaces.emplace_back(pose_orientation_z_); + state_interfaces.emplace_back(pose_orientation_w_); + + pose_broadcaster_->assign_interfaces({}, std::move(state_interfaces)); +} + +TEST_F(PoseBroadcasterTest, Configure_Success) +{ + SetUpPoseBroadcaster(); + + // Set 'pose_name' and 'frame_id' parameters + pose_broadcaster_->get_node()->set_parameter({"pose_name", pose_name_}); + pose_broadcaster_->get_node()->set_parameter({"frame_id", frame_id_}); + + // Configure controller + ASSERT_EQ( + pose_broadcaster_->on_configure(rclcpp_lifecycle::State{}), + controller_interface::CallbackReturn::SUCCESS); + + // Verify command interface configuration + const auto command_interface_conf = pose_broadcaster_->command_interface_configuration(); + EXPECT_EQ(command_interface_conf.type, controller_interface::interface_configuration_type::NONE); + EXPECT_TRUE(command_interface_conf.names.empty()); + + // Verify state interface configuration + const auto state_interface_conf = pose_broadcaster_->state_interface_configuration(); + EXPECT_EQ( + state_interface_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); + ASSERT_EQ(state_interface_conf.names.size(), 7lu); +} + +TEST_F(PoseBroadcasterTest, Activate_Success) +{ + SetUpPoseBroadcaster(); + + // Set 'pose_name' and 'frame_id' parameters + pose_broadcaster_->get_node()->set_parameter({"pose_name", pose_name_}); + pose_broadcaster_->get_node()->set_parameter({"frame_id", frame_id_}); + + // Configure and activate controller + ASSERT_EQ( + pose_broadcaster_->on_configure(rclcpp_lifecycle::State{}), + controller_interface::CallbackReturn::SUCCESS); + ASSERT_EQ( + pose_broadcaster_->on_activate(rclcpp_lifecycle::State{}), + controller_interface::CallbackReturn::SUCCESS); + + // Verify command and state interface configuration + { + const auto command_interface_conf = pose_broadcaster_->command_interface_configuration(); + EXPECT_EQ( + command_interface_conf.type, controller_interface::interface_configuration_type::NONE); + EXPECT_TRUE(command_interface_conf.names.empty()); + + const auto state_interface_conf = pose_broadcaster_->state_interface_configuration(); + EXPECT_EQ( + state_interface_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); + ASSERT_EQ(state_interface_conf.names.size(), 7lu); + } + + // Deactivate controller + ASSERT_EQ( + pose_broadcaster_->on_deactivate(rclcpp_lifecycle::State{}), + controller_interface::CallbackReturn::SUCCESS); + + // Verify command and state interface configuration + { + const auto command_interface_conf = pose_broadcaster_->command_interface_configuration(); + EXPECT_EQ( + command_interface_conf.type, controller_interface::interface_configuration_type::NONE); + EXPECT_TRUE(command_interface_conf.names.empty()); + + const auto state_interface_conf = pose_broadcaster_->state_interface_configuration(); + EXPECT_EQ( + state_interface_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); + ASSERT_EQ(state_interface_conf.names.size(), 7lu); // Should not change when deactivating + } +} + +TEST_F(PoseBroadcasterTest, Update_Success) +{ + SetUpPoseBroadcaster(); + + // Set 'pose_name' and 'frame_id' parameters + pose_broadcaster_->get_node()->set_parameter({"pose_name", pose_name_}); + pose_broadcaster_->get_node()->set_parameter({"frame_id", frame_id_}); + + // Configure and activate controller + ASSERT_EQ( + pose_broadcaster_->on_configure(rclcpp_lifecycle::State{}), + controller_interface::CallbackReturn::SUCCESS); + ASSERT_EQ( + pose_broadcaster_->on_activate(rclcpp_lifecycle::State{}), + controller_interface::CallbackReturn::SUCCESS); + + ASSERT_EQ( + pose_broadcaster_->update(rclcpp::Time{0}, rclcpp::Duration::from_seconds(0.01)), + controller_interface::return_type::OK); +} + +TEST_F(PoseBroadcasterTest, PublishSuccess) +{ + SetUpPoseBroadcaster(); + + // Set 'pose_name' and 'frame_id' parameters + pose_broadcaster_->get_node()->set_parameter({"pose_name", pose_name_}); + pose_broadcaster_->get_node()->set_parameter({"frame_id", frame_id_}); + + // Set 'tf.enable' and 'tf.child_frame_id' parameters + pose_broadcaster_->get_node()->set_parameter({"tf.enable", true}); + pose_broadcaster_->get_node()->set_parameter({"tf.child_frame_id", tf_child_frame_id_}); + + // Configure and activate controller + ASSERT_EQ( + pose_broadcaster_->on_configure(rclcpp_lifecycle::State{}), + controller_interface::CallbackReturn::SUCCESS); + ASSERT_EQ( + pose_broadcaster_->on_activate(rclcpp_lifecycle::State{}), + controller_interface::CallbackReturn::SUCCESS); + + // Subscribe to pose topic + geometry_msgs::msg::PoseStamped pose_msg; + subscribe_and_get_message("/test_pose_broadcaster/pose", pose_msg); + + // Verify content of pose message + EXPECT_EQ(pose_msg.header.frame_id, frame_id_); + EXPECT_EQ(pose_msg.pose.position.x, pose_values_[0]); + EXPECT_EQ(pose_msg.pose.position.y, pose_values_[1]); + EXPECT_EQ(pose_msg.pose.position.z, pose_values_[2]); + EXPECT_EQ(pose_msg.pose.orientation.x, pose_values_[3]); + EXPECT_EQ(pose_msg.pose.orientation.y, pose_values_[4]); + EXPECT_EQ(pose_msg.pose.orientation.z, pose_values_[5]); + EXPECT_EQ(pose_msg.pose.orientation.w, pose_values_[6]); + + // Subscribe to tf topic + tf2_msgs::msg::TFMessage tf_msg; + subscribe_and_get_message("/tf", tf_msg); + + // Verify content of tf message + ASSERT_EQ(tf_msg.transforms.size(), 1lu); + EXPECT_EQ(tf_msg.transforms[0].header.frame_id, frame_id_); + EXPECT_EQ(tf_msg.transforms[0].child_frame_id, tf_child_frame_id_); + EXPECT_EQ(tf_msg.transforms[0].transform.translation.x, pose_values_[0]); + EXPECT_EQ(tf_msg.transforms[0].transform.translation.y, pose_values_[1]); + EXPECT_EQ(tf_msg.transforms[0].transform.translation.z, pose_values_[2]); + EXPECT_EQ(tf_msg.transforms[0].transform.rotation.x, pose_values_[3]); + EXPECT_EQ(tf_msg.transforms[0].transform.rotation.y, pose_values_[4]); + EXPECT_EQ(tf_msg.transforms[0].transform.rotation.z, pose_values_[5]); + EXPECT_EQ(tf_msg.transforms[0].transform.rotation.w, pose_values_[6]); +} + +int main(int argc, char * argv[]) +{ + ::testing::InitGoogleMock(&argc, argv); + rclcpp::init(argc, argv); + + int result = RUN_ALL_TESTS(); + rclcpp::shutdown(); + + return result; +} diff --git a/pose_broadcaster/test/test_pose_broadcaster.hpp b/pose_broadcaster/test/test_pose_broadcaster.hpp new file mode 100644 index 0000000000..a164b2c6ac --- /dev/null +++ b/pose_broadcaster/test/test_pose_broadcaster.hpp @@ -0,0 +1,96 @@ +// Copyright 2024 FZI Forschungszentrum Informatik +// +// 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. +#ifndef TEST_POSE_BROADCASTER_HPP_ +#define TEST_POSE_BROADCASTER_HPP_ + +#include + +#include +#include +#include + +#include "rclcpp/executors.hpp" + +#include "pose_broadcaster/pose_broadcaster.hpp" + +using pose_broadcaster::PoseBroadcaster; + +class PoseBroadcasterTest : public ::testing::Test +{ +public: + void SetUp(); + void TearDown(); + + void SetUpPoseBroadcaster(); + +protected: + const std::string pose_name_ = "test_pose"; + const std::string frame_id_ = "pose_base_frame"; + const std::string tf_child_frame_id_ = "pose_frame"; + + std::array pose_values_ = {1.1, 2.2, 3.3, 4.4, 5.5, 6.6, 7.7}; + + hardware_interface::StateInterface pose_position_x_{pose_name_, "position.x", &pose_values_[0]}; + hardware_interface::StateInterface pose_position_y_{pose_name_, "position.x", &pose_values_[1]}; + hardware_interface::StateInterface pose_position_z_{pose_name_, "position.x", &pose_values_[2]}; + hardware_interface::StateInterface pose_orientation_x_{ + pose_name_, "orientation.x", &pose_values_[3]}; + hardware_interface::StateInterface pose_orientation_y_{ + pose_name_, "orientation.y", &pose_values_[4]}; + hardware_interface::StateInterface pose_orientation_z_{ + pose_name_, "orientation.z", &pose_values_[5]}; + hardware_interface::StateInterface pose_orientation_w_{ + pose_name_, "orientation.w", &pose_values_[6]}; + + std::unique_ptr pose_broadcaster_; + + template + void subscribe_and_get_message(const std::string & topic, T & msg); +}; + +template +void PoseBroadcasterTest::subscribe_and_get_message(const std::string & topic, T & msg) +{ + // Create node for subscribing + rclcpp::Node node{"test_subscription_node"}; + rclcpp::executors::SingleThreadedExecutor executor; + executor.add_node(node.get_node_base_interface()); + + // Create subscription + typename T::SharedPtr received_msg; + const auto msg_callback = [&](const typename T::SharedPtr sub_msg) { received_msg = sub_msg; }; + const auto subscription = node.create_subscription(topic, 10, msg_callback); + + // Update controller and spin until a message is received + // Since update doesn't guarantee a published message, republish until received + constexpr size_t max_sub_check_loop_count = 5; + for (size_t i = 0; !received_msg; ++i) + { + ASSERT_LT(i, max_sub_check_loop_count); + + pose_broadcaster_->update(rclcpp::Time{0}, rclcpp::Duration::from_seconds(0.01)); + + const auto timeout = std::chrono::milliseconds{5}; + const auto until = node.get_clock()->now() + timeout; + while (!received_msg && node.get_clock()->now() < until) + { + executor.spin_some(); + std::this_thread::sleep_for(std::chrono::microseconds{10}); + } + } + + msg = *received_msg; +} + +#endif // TEST_POSE_BROADCASTER_HPP_