changed rosbot_xl_gazebo to ament_python | added lidar tests and gaze…

…bo moving tests

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

README.md

@@ -110,6 +110,27 @@ source install/setup.bash
 ros2 launch rosbot_xl_gazebo simulation.launch.py
 ```
 
+## Testing package
+
+### Industrial CI
+```
+colcon test
+```
+
+> [!NOTE]
+> Command `colcon test` does not build the code. Remember to build your code after changes.
+
+If tests finish with errors print logs:
+```
+colcon test-result --verbose
+```
+
+### Format python code with [Black](https://github.com/psf/black)
+```
+cd src/
+black rosbot*
+```
+
 ## Demos
 
 For further usage examples check out our other repositories:

rosbot_xl_bringup/test/bringup_test_node.py

@@ -0,0 +1,124 @@
+# 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
+import math
+
+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 not math.isnan(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_description/urdf/wheel.urdf.xacro

@@ -62,7 +62,7 @@
       <child link="${prefix}_wheel_link" />
       <origin xyz="${x} ${y} 0.0" rpy="0.0 0.0 0.0" />
       <axis xyz="0.0 1.0 0.0" />
-      <limit effort="1.27" velocity="21.0" />
+      <limit effort="1.5" velocity="30.0" />
       <dynamics damping="0.001" friction="0.001" />
     </joint>
 

rosbot_xl_gazebo/launch/simulation.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 (
@@ -7,6 +19,7 @@
 )
 from launch.substitutions import (
     PathJoinSubstitution,
+    PythonExpression,
     LaunchConfiguration,
 )
 from launch.launch_description_sources import PythonLaunchDescriptionSource
@@ -21,7 +34,10 @@ 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")
@@ -45,12 +61,28 @@ def generate_launch_description():
         description="Whether to include camera mount to the robot URDF",
     )
 
-    map_package = get_package_share_directory("husarion_office_gz")
-    world_file = PathJoinSubstitution([map_package, "worlds", "husarion_world.sdf"])
+    world_package = get_package_share_directory("husarion_office_gz")
+    world_file = PathJoinSubstitution([world_package, "worlds", "husarion_world.sdf"])
     world_cfg = LaunchConfiguration("world")
     declare_world_arg = DeclareLaunchArgument(
-        "world", default_value=["-r ", world_file], description="SDF world file"
+        "world", default_value=world_file, description="SDF world file"
+    )
+
+    headless = LaunchConfiguration("headless")
+    declare_headless_arg = DeclareLaunchArgument(
+        "headless",
+        default_value="False",
+        description=("Run Gazebo Ignition in the headless mode"),
+    )
+
+    headless_cfg = PythonExpression(
+        [
+            "'--headless-rendering -s -r' if ",
+            headless,
+            " else '-r'",
+        ]
     )
+    gz_args = [headless_cfg, " ", world_cfg]
 
     gz_sim = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
@@ -62,7 +94,10 @@ def generate_launch_description():
                 ]
             )
         ),
-        launch_arguments={"gz_args": world_cfg}.items(),
+        launch_arguments={
+            "gz_args": gz_args,
+            "on_exit_shutdown": "True",
+        }.items(),
     )
 
     gz_spawn_entity = Node(
@@ -143,7 +178,9 @@ def generate_launch_description():
             declare_camera_model_arg,
             declare_include_camera_mount_arg,
             declare_world_arg,
-            # Sets use_sim_time for all nodes started below (doesn't work for nodes started from ignition gazebo)
+            declare_headless_arg,
+            # Sets use_sim_time for all nodes started below
+            # (doesn't work for nodes started from ignition gazebo)
             SetParameter(name="use_sim_time", value=True),
             gz_sim,
             ign_bridge,

rosbot_xl_gazebo/package.xml

@@ -4,19 +4,18 @@
   <name>rosbot_xl_gazebo</name>
   <version>0.8.2</version>
 
-  <description>The rosbot_xl_gazebo package</description>
+  <description>Gazebo Ignition simulation for ROSbot XL</description>
   <license>Apache License 2.0</license>
 
   <author email="maciej.stepien@husarion.com">Maciej Stępień</author>
   <author email="krzysztof.wojciechowski@husarion.com">Krzysztof Wojciechowski</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_bringup</exec_depend>
 
   <exec_depend>launch</exec_depend>
@@ -30,7 +29,19 @@
   <exec_depend>ros_gz_bridge</exec_depend>
   <exec_depend>ign_ros2_control</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>tf_transformations</test_depend>
+  <test_depend>python-transforms3d-pip</test_depend>
+  <test_depend>nav_msgs</test_depend>
+  <test_depend>geometry_msgs</test_depend>
+
+  <test_depend>rosbot_bringup</test_depend>
+
   <export>
-    <build_type>ament_cmake</build_type>
+    <build_type>ament_python</build_type>
   </export>
 </package>

rosbot_xl_gazebo/setup.cfg

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

rosbot_xl_gazebo/setup.py

@@ -0,0 +1,26 @@
+import os
+from glob import glob
+from setuptools import find_packages, setup
+
+package_name = "rosbot_xl_gazebo"
+
+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")),
+    ],
+    install_requires=["setuptools"],
+    zip_safe=True,
+    maintainer="Husarion",
+    maintainer_email="contact@husarion.com",
+    description="Gazebo Ignition simulation for ROSbot XL",
+    license="Apache License 2.0",
+    tests_require=["pytest"],
+    entry_points={
+        "console_scripts": [],
+    },
+)

rosbot_xl_gazebo/test/kill_ign.py

@@ -0,0 +1,38 @@
+# 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 subprocess
+
+# The pytest cannot kill properly the Gazebo Ignition's tasks what blocks launching
+# several tests in a row.
+
+
+def kill_ign_linux_processes():
+    try:
+        result = subprocess.run(
+            ["pgrep", "-f", "ign gazebo"],
+            capture_output=True,
+            text=True,
+            check=True,
+        )
+
+        pids = result.stdout.strip().split("\n")
+        for pid in pids:
+            subprocess.run(["kill", pid], check=True)
+        print("Killed all Ignition Gazebo processes")
+    except subprocess.CalledProcessError as e:
+        print(e)
+
+
+kill_ign_linux_processes()