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Test gazebo scan #71

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merged 7 commits into from
Oct 16, 2023
Merged

Test gazebo scan #71

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473a6e2
added scan test
delihus Sep 11, 2023
ab2c04c
Merge branch 'test-gazebo' into test-gazebo-scan
delihus Oct 10, 2023
34cc6d4
Merge remote-tracking branch 'origin/humble' into test-gazebo-scan
delihus Oct 11, 2023
b3534d7
updated gazebo scan test
delihus Oct 11, 2023
23c5c83
Added tests to readme
delihus Oct 11, 2023
cd24864
Update rosbot_gazebo/test/simulation_test_node.py
delihus Oct 16, 2023
ea369a0
Update README.md
delihus Oct 16, 2023
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16 changes: 15 additions & 1 deletion rosbot_gazebo/test/simulation_test_node.py
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Original file line number Diff line number Diff line change
Expand Up @@ -14,6 +14,7 @@
# limitations under the License.

import rclpy
import tf_transformations

from threading import Event
from threading import Thread
Expand All @@ -22,10 +23,11 @@

from geometry_msgs.msg import Twist
from nav_msgs.msg import Odometry
import tf_transformations
from sensor_msgs.msg import LaserScan


class SimulationTestNode(Node):
MINIMAL_LASER_SCAN_RANGE = 0.1
__test__ = False

def __init__(self, name="test_node"):
Expand All @@ -37,6 +39,7 @@ def __init__(self, name="test_node"):
self.goal_x_event = Event()
self.goal_y_event = Event()
self.goal_theta_event = Event()
self.scan_event = Event()

def set_and_publish_velocities(
self, goal_x_distance, goal_y_distance, goal_theta_angle
Expand All @@ -52,6 +55,11 @@ def create_test_subscribers_and_publishers(self):
self.odom_sub = self.create_subscription(
Odometry, "/odometry/filtered", self.odometry_callback, 10
)

self.scan_sub = self.create_subscription(
LaserScan, "/scan", self.scan_callback, 10
)

self.timer = None

def start_node_thread(self):
Expand Down Expand Up @@ -83,6 +91,12 @@ def odometry_callback(self, data: Odometry):
if yaw > self.goal_theta_angle:
self.goal_theta_event.set()

def scan_callback(self, data: LaserScan):
if min(data.ranges) < self.MINIMAL_LASER_SCAN_RANGE:
print(f"Ranges: {data.ranges}")
return
self.scan_event.set()
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def publish_cmd_vel_messages(self):
twist_msg = Twist()
twist_msg.linear.x = self.goal_x_distance
Expand Down