added tests from rosbot_ros | added scan_filter test

Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com>

rosbot_xl_bringup/launch/bringup.launch.py

@@ -1,4 +1,16 @@
-#!/usr/bin/env python3
+# Copyright 2023 Husarion
+#
+# 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.
 
 from launch import LaunchDescription
 from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument
@@ -18,7 +30,10 @@ def generate_launch_description():
     declare_mecanum_arg = DeclareLaunchArgument(
         "mecanum",
         default_value="False",
-        description="Whether to use mecanum drive controller (otherwise diff drive controller is used)",
+        description=(
+            "Whether to use mecanum drive controller"
+            "(otherwise diff drive controller is used)"
+        ),
     )
 
     lidar_model = LaunchConfiguration("lidar_model")

rosbot_xl_bringup/package.xml

@@ -4,18 +4,17 @@
   <name>rosbot_xl_bringup</name>
   <version>0.8.2</version>
 
-  <description>The rosbot_xl_bringup package</description>
+  <description>ROSbot XL bringup package</description>
   <license>Apache License 2.0</license>
 
   <author email="maciej.stepien@husarion.com">Maciej Stepien</author>
+  <author email="jakub.delicat@husarion.com">Jakub Delicat</author>
   <maintainer email="support@husarion.com">Husarion</maintainer>
 
   <url type="website">https://husarion.com/</url>
   <url type="repository">https://github.com/husarion/rosbot_xl_ros</url>
   <url type="bugtracker">https://github.com/husarion/rosbot_xl_ros/issues</url>
 
-  <buildtool_depend>ament_cmake</buildtool_depend>
-
   <exec_depend>rosbot_xl_controller</exec_depend>
 
   <exec_depend>launch</exec_depend>
@@ -24,7 +23,15 @@
   <exec_depend>laser_filters</exec_depend>
   <exec_depend>robot_localization</exec_depend>
 
+  <test_depend>python3-pytest</test_depend>
+  <test_depend>launch</test_depend>
+  <test_depend>launch_ros</test_depend>
+  <test_depend>launch_pytest</test_depend>
+
+  <test_depend>robot_localization</test_depend>
+  <test_depend>rosbot_xl_controller</test_depend>
+
   <export>
-    <build_type>ament_cmake</build_type>
+    <build_type>ament_python</build_type>
   </export>
 </package>

rosbot_xl_bringup/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/rosbot_xl_bringup
+[install]
+install_scripts=$base/lib/rosbot_xl_bringup

rosbot_xl_bringup/setup.py

@@ -0,0 +1,27 @@
+import os
+from glob import glob
+from setuptools import find_packages, setup
+
+package_name = "rosbot_xl_bringup"
+
+setup(
+    name=package_name,
+    version="0.8.2",
+    packages=find_packages(exclude=["test"]),
+    data_files=[
+        ("share/ament_index/resource_index/packages", ["resource/" + package_name]),
+        ("share/" + package_name, ["package.xml"]),
+        (os.path.join("share", package_name, "launch"), glob("launch/*.launch.py")),
+        (os.path.join("share", package_name, "config"), glob("config/*.yaml")),
+    ],
+    install_requires=["setuptools"],
+    zip_safe=True,
+    maintainer="Husarion",
+    maintainer_email="contact@husarion.com",
+    description="ROSbot XL bringup package",
+    license="Apache License 2.0",
+    tests_require=["pytest"],
+    entry_points={
+        "console_scripts": [],
+    },
+)

rosbot_xl_bringup/test/bringup_test_node.py

@@ -0,0 +1,123 @@
+# Copyright 2021 Open Source Robotics Foundation, Inc.
+# Copyright 2023 Husarion
+#
+# 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.
+
+import rclpy
+
+from threading import Event
+from threading import Thread
+
+from rclpy.node import Node
+
+from sensor_msgs.msg import JointState, Imu, LaserScan
+from tf2_ros import TransformException
+from tf2_ros.buffer import Buffer
+from tf2_ros.transform_listener import TransformListener
+
+
+class BringupTestNode(Node):
+    ROSBOT_HARDWARE_PUBLISHERS_RATE = 10.0
+
+    __test__ = False
+
+    def __init__(self, name="test_node"):
+        super().__init__(name)
+        self.odom_tf_event = Event()
+        self.scan_filter_event = Event()
+
+    def create_test_subscribers_and_publishers(self):
+        self.imu_publisher = self.create_publisher(Imu, "_imu/data_raw", 10)
+
+        self.joint_states_publisher = self.create_publisher(
+            JointState, "_motors_response", 10
+        )
+
+        self.tf_buffer = Buffer()
+        self.tf_listener = TransformListener(self.tf_buffer, self)
+
+        self.scan_publisher = self.create_publisher(LaserScan, "scan", 10)
+        self.filtered_scan_subscriber = self.create_subscription(
+            LaserScan, "scan_filtered", self.filtered_scan_callback, 10
+        )
+
+        self.timer = None
+
+    def lookup_transform_odom(self):
+        try:
+            self.tf_buffer.lookup_transform("odom", "base_link", rclpy.time.Time())
+            self.odom_tf_event.set()
+        except TransformException as ex:
+            self.get_logger().error(f"Could not transform odom to base_link: {ex}")
+
+    def start_node_thread(self):
+        self.ros_spin_thread = Thread(
+            target=lambda node: rclpy.spin(node), args=(self,)
+        )
+        self.ros_spin_thread.start()
+
+    def start_publishing_fake_hardware(self):
+        self.timer = self.create_timer(
+            1.0 / self.ROSBOT_HARDWARE_PUBLISHERS_RATE,
+            self.timer_callback,
+        )
+
+    def filtered_scan_callback(self, msg):
+        if msg.ranges[0] == 5.0 and msg.ranges[-1] == 5.0:
+            for i in range(len(msg.ranges) - 2):
+                # when is not .nan
+                if msg.ranges[i + 1] == msg.ranges[i + 1]:
+                    return
+
+        self.scan_filter_event.set()
+
+    def timer_callback(self):
+        self.publish_fake_hardware_messages()
+        self.lookup_transform_odom()
+        self.publish_scan()
+
+    def publish_fake_hardware_messages(self):
+        imu_msg = Imu()
+        imu_msg.header.stamp = self.get_clock().now().to_msg()
+        imu_msg.header.frame_id = "imu_link"
+
+        joint_state_msg = JointState()
+        joint_state_msg.header.stamp = self.get_clock().now().to_msg()
+        joint_state_msg.name = [
+            "fl_wheel_joint",
+            "fr_wheel_joint",
+            "rl_wheel_joint",
+            "rr_wheel_joint",
+        ]
+        joint_state_msg.position = [0.0, 0.0, 0.0, 0.0]
+        joint_state_msg.velocity = [0.0, 0.0, 0.0, 0.0]
+
+        self.imu_publisher.publish(imu_msg)
+        self.joint_states_publisher.publish(joint_state_msg)
+
+    def publish_scan(self):
+        msg = LaserScan()
+        msg.header.frame_id = "base_link"
+        msg.angle_min = 0.0
+        msg.angle_max = 2.0 * 3.14159265
+        msg.angle_increment = 0.05
+        msg.time_increment = 0.1
+        msg.scan_time = 0.1
+        msg.range_min = 0.0
+        msg.range_max = 10.0
+
+        # All points inside filtered box
+        msg.ranges = [0.1] * 126
+        msg.ranges[0] = 5.0
+        msg.ranges[-1] = 5.0
+        self.scan_publisher.publish(msg)

rosbot_xl_bringup/test/test_copyright.py

@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# 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.
+
+from ament_copyright.main import main
+import pytest
+
+
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=[".", "test"])
+    assert rc == 0, "Found errors"

rosbot_xl_bringup/test/test_diff_drive_ekf.py

@@ -0,0 +1,67 @@
+# Copyright 2021 Open Source Robotics Foundation, Inc.
+# Copyright 2023 Intel Corporation. All Rights Reserved.
+# Copyright 2023 Husarion
+#
+# 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.
+
+import launch_pytest
+import pytest
+import rclpy
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
+from launch.substitutions import PathJoinSubstitution
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from bringup_test_node import BringupTestNode
+
+
+@launch_pytest.fixture
+def generate_test_description():
+    rosbot_xl_bringup = get_package_share_directory("rosbot_xl_bringup")
+    bringup_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            PathJoinSubstitution(
+                [
+                    rosbot_xl_bringup,
+                    "launch",
+                    "bringup.launch.py",
+                ]
+            )
+        ),
+        launch_arguments={
+            "use_sim": "False",
+            "mecanum": "False",
+            "use_gpu": "False",
+        }.items(),
+    )
+
+    return LaunchDescription([bringup_launch])
+
+
+@pytest.mark.launch(fixture=generate_test_description)
+def test_bringup_startup_success():
+    rclpy.init()
+    try:
+        node = BringupTestNode("test_bringup")
+        node.create_test_subscribers_and_publishers()
+        node.start_publishing_fake_hardware()
+
+        node.start_node_thread()
+        msgs_received_flag = node.odom_tf_event.wait(timeout=10.0)
+        assert (
+            msgs_received_flag
+        ), "Expected odom to base_link tf but it was not received. Check robot_localization!"
+
+    finally:
+        rclpy.shutdown()

rosbot_xl_bringup/test/test_flake8.py

@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# 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.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, "Found %d code style errors / warnings:\n" % len(
+        errors
+    ) + "\n".join(errors)