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Use new update method for added tests
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@christophfroehlich
christophfroehlich committed Nov 28, 2023
1 parent f539cd5 commit fa521ca
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Showing 2 changed files with 61 additions and 78 deletions.
132 changes: 54 additions & 78 deletions joint_trajectory_controller/test/test_trajectory_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -876,10 +876,8 @@ TEST_P(TrajectoryControllerTestParameterized, trajectory_error_command_joints_le
constexpr double k_p = 10.0;
std::vector<std::string> command_joint_names{joint_names_[0], joint_names_[1]};
const rclcpp::Parameter command_joint_names_param("command_joints", command_joint_names);
std::vector<rclcpp::Parameter> params = {
rclcpp::Parameter("allow_nonzero_velocity_at_trajectory_end", true), command_joint_names_param};
std::vector<rclcpp::Parameter> params = {command_joint_names_param};
SetUpAndActivateTrajectoryController(executor, params, true, k_p, 0.0, false);
subscribeToState();

size_t n_joints = joint_names_.size();

Expand All @@ -895,66 +893,58 @@ TEST_P(TrajectoryControllerTestParameterized, trajectory_error_command_joints_le
publish(time_from_start, points, rclcpp::Time(), {}, points_velocities);
traj_controller_->wait_for_trajectory(executor);

// first update
updateController(rclcpp::Duration(FIRST_POINT_TIME));

// Spin to receive latest state
executor.spin_some();
auto state_msg = getState();
ASSERT_TRUE(state_msg);
// trylock() has to succeed at least once to have current_command set
updateControllerAsync(rclcpp::Duration(FIRST_POINT_TIME));

const auto allowed_delta = 0.1;
// get states from class variables
auto state_feedback = traj_controller_->get_state_feedback();
auto state_reference = traj_controller_->get_state_reference();
auto state_error = traj_controller_->get_state_error();
auto current_command = traj_controller_->get_current_command();

// no update of state_interface
EXPECT_EQ(state_msg->feedback.positions, INITIAL_POS_JOINTS);
EXPECT_EQ(state_feedback.positions, INITIAL_POS_JOINTS);

// has the msg the correct vector sizes?
EXPECT_EQ(n_joints, state_msg->reference.positions.size());
EXPECT_EQ(n_joints, state_msg->feedback.positions.size());
EXPECT_EQ(n_joints, state_msg->error.positions.size());
EXPECT_EQ(n_joints, state_reference.positions.size());
EXPECT_EQ(n_joints, state_feedback.positions.size());
EXPECT_EQ(n_joints, state_error.positions.size());

// are the correct reference positions used?
EXPECT_NEAR(points[0][0], state_msg->reference.positions[0], allowed_delta);
EXPECT_NEAR(points[0][1], state_msg->reference.positions[1], allowed_delta);
EXPECT_NEAR(points[0][2], state_msg->reference.positions[2], 3 * allowed_delta);
EXPECT_NEAR(points[0][0], state_reference.positions[0], COMMON_THRESHOLD);
EXPECT_NEAR(points[0][1], state_reference.positions[1], COMMON_THRESHOLD);
EXPECT_NEAR(points[0][2], state_reference.positions[2], COMMON_THRESHOLD);

// no normalization of position error
EXPECT_NEAR(
state_msg->error.positions[0], state_msg->reference.positions[0] - INITIAL_POS_JOINTS[0], EPS);
EXPECT_NEAR(
state_msg->error.positions[1], state_msg->reference.positions[1] - INITIAL_POS_JOINTS[1], EPS);
EXPECT_NEAR(
state_msg->error.positions[2], state_msg->reference.positions[2] - INITIAL_POS_JOINTS[2], EPS);
EXPECT_NEAR(state_error.positions[0], state_reference.positions[0] - INITIAL_POS_JOINTS[0], EPS);
EXPECT_NEAR(state_error.positions[1], state_reference.positions[1] - INITIAL_POS_JOINTS[1], EPS);
EXPECT_NEAR(state_error.positions[2], state_reference.positions[2] - INITIAL_POS_JOINTS[2], EPS);

if (traj_controller_->has_position_command_interface())
{
// check command interface
EXPECT_NEAR(points[0][0], joint_pos_[0], allowed_delta);
EXPECT_NEAR(points[0][1], joint_pos_[1], allowed_delta);
EXPECT_NEAR(points[0][0], state_msg->output.positions[0], allowed_delta);
EXPECT_NEAR(points[0][1], state_msg->output.positions[1], allowed_delta);
EXPECT_TRUE(std::isnan(state_msg->output.positions[2]));
EXPECT_NEAR(points[0][0], joint_pos_[0], COMMON_THRESHOLD);
EXPECT_NEAR(points[0][1], joint_pos_[1], COMMON_THRESHOLD);
EXPECT_TRUE(std::isnan(current_command.positions[2]));
}

if (traj_controller_->has_velocity_command_interface())
{
// check command interface
EXPECT_LT(0.0, joint_vel_[0]);
EXPECT_LT(0.0, joint_vel_[1]);
EXPECT_LT(0.0, state_msg->output.velocities[0]);
EXPECT_LT(0.0, state_msg->output.velocities[1]);
EXPECT_TRUE(std::isnan(state_msg->output.velocities[2]));
EXPECT_TRUE(std::isnan(current_command.velocities[2]));

// use_closed_loop_pid_adapter_
if (traj_controller_->use_closed_loop_pid_adapter())
{
// we expect u = k_p * (s_d-s)
EXPECT_NEAR(
k_p * (state_msg->reference.positions[0] - INITIAL_POS_JOINTS[0]), joint_vel_[0],
k_p * allowed_delta);
k_p * (state_reference.positions[0] - INITIAL_POS_JOINTS[0]), joint_vel_[0],
k_p * COMMON_THRESHOLD);
EXPECT_NEAR(
k_p * (state_msg->reference.positions[1] - INITIAL_POS_JOINTS[1]), joint_vel_[1],
k_p * allowed_delta);
k_p * (state_reference.positions[1] - INITIAL_POS_JOINTS[1]), joint_vel_[1],
k_p * COMMON_THRESHOLD);
}
}

Expand All @@ -963,9 +953,7 @@ TEST_P(TrajectoryControllerTestParameterized, trajectory_error_command_joints_le
// check command interface
EXPECT_LT(0.0, joint_eff_[0]);
EXPECT_LT(0.0, joint_eff_[1]);
EXPECT_LT(0.0, state_msg->output.effort[0]);
EXPECT_LT(0.0, state_msg->output.effort[1]);
EXPECT_TRUE(std::isnan(state_msg->output.effort[2]));
EXPECT_TRUE(std::isnan(current_command.effort[2]));
}

executor.cancel();
Expand All @@ -981,10 +969,8 @@ TEST_P(TrajectoryControllerTestParameterized, trajectory_error_command_joints_le
constexpr double k_p = 10.0;
std::vector<std::string> command_joint_names{joint_names_[1], joint_names_[0]};
const rclcpp::Parameter command_joint_names_param("command_joints", command_joint_names);
std::vector<rclcpp::Parameter> params = {
rclcpp::Parameter("allow_nonzero_velocity_at_trajectory_end", true), command_joint_names_param};
std::vector<rclcpp::Parameter> params = {command_joint_names_param};
SetUpAndActivateTrajectoryController(executor, params, true, k_p, 0.0, false);
subscribeToState();

size_t n_joints = joint_names_.size();

Expand All @@ -1000,66 +986,58 @@ TEST_P(TrajectoryControllerTestParameterized, trajectory_error_command_joints_le
publish(time_from_start, points, rclcpp::Time(), {}, points_velocities);
traj_controller_->wait_for_trajectory(executor);

// first update
updateController(rclcpp::Duration(FIRST_POINT_TIME));

// Spin to receive latest state
executor.spin_some();
auto state_msg = getState();
ASSERT_TRUE(state_msg);
// trylock() has to succeed at least once to have current_command set
updateControllerAsync(rclcpp::Duration(FIRST_POINT_TIME));

const auto allowed_delta = 0.1;
// get states from class variables
auto state_feedback = traj_controller_->get_state_feedback();
auto state_reference = traj_controller_->get_state_reference();
auto state_error = traj_controller_->get_state_error();
auto current_command = traj_controller_->get_current_command();

// no update of state_interface
EXPECT_EQ(state_msg->feedback.positions, INITIAL_POS_JOINTS);
EXPECT_EQ(state_feedback.positions, INITIAL_POS_JOINTS);

// has the msg the correct vector sizes?
EXPECT_EQ(n_joints, state_msg->reference.positions.size());
EXPECT_EQ(n_joints, state_msg->feedback.positions.size());
EXPECT_EQ(n_joints, state_msg->error.positions.size());
EXPECT_EQ(n_joints, state_reference.positions.size());
EXPECT_EQ(n_joints, state_feedback.positions.size());
EXPECT_EQ(n_joints, state_error.positions.size());

// are the correct reference positions used?
EXPECT_NEAR(points[0][0], state_msg->reference.positions[0], allowed_delta);
EXPECT_NEAR(points[0][1], state_msg->reference.positions[1], allowed_delta);
EXPECT_NEAR(points[0][2], state_msg->reference.positions[2], 3 * allowed_delta);
EXPECT_NEAR(points[0][0], state_reference.positions[0], COMMON_THRESHOLD);
EXPECT_NEAR(points[0][1], state_reference.positions[1], COMMON_THRESHOLD);
EXPECT_NEAR(points[0][2], state_reference.positions[2], COMMON_THRESHOLD);

// no normalization of position error
EXPECT_NEAR(
state_msg->error.positions[0], state_msg->reference.positions[0] - INITIAL_POS_JOINTS[0], EPS);
EXPECT_NEAR(
state_msg->error.positions[1], state_msg->reference.positions[1] - INITIAL_POS_JOINTS[1], EPS);
EXPECT_NEAR(
state_msg->error.positions[2], state_msg->reference.positions[2] - INITIAL_POS_JOINTS[2], EPS);
EXPECT_NEAR(state_error.positions[0], state_reference.positions[0] - INITIAL_POS_JOINTS[0], EPS);
EXPECT_NEAR(state_error.positions[1], state_reference.positions[1] - INITIAL_POS_JOINTS[1], EPS);
EXPECT_NEAR(state_error.positions[2], state_reference.positions[2] - INITIAL_POS_JOINTS[2], EPS);

if (traj_controller_->has_position_command_interface())
{
// check command interface
EXPECT_NEAR(points[0][0], joint_pos_[0], allowed_delta);
EXPECT_NEAR(points[0][1], joint_pos_[1], allowed_delta);
EXPECT_NEAR(points[0][0], state_msg->output.positions[0], allowed_delta);
EXPECT_NEAR(points[0][1], state_msg->output.positions[1], allowed_delta);
EXPECT_TRUE(std::isnan(state_msg->output.positions[2]));
EXPECT_NEAR(points[0][0], joint_pos_[0], COMMON_THRESHOLD);
EXPECT_NEAR(points[0][1], joint_pos_[1], COMMON_THRESHOLD);
EXPECT_TRUE(std::isnan(current_command.positions[2]));
}

if (traj_controller_->has_velocity_command_interface())
{
// check command interface
EXPECT_LT(0.0, joint_vel_[0]);
EXPECT_LT(0.0, joint_vel_[1]);
EXPECT_LT(0.0, state_msg->output.velocities[0]);
EXPECT_LT(0.0, state_msg->output.velocities[1]);
EXPECT_TRUE(std::isnan(state_msg->output.velocities[2]));
EXPECT_TRUE(std::isnan(current_command.velocities[2]));

// use_closed_loop_pid_adapter_
if (traj_controller_->use_closed_loop_pid_adapter())
{
// we expect u = k_p * (s_d-s)
EXPECT_NEAR(
k_p * (state_msg->reference.positions[0] - INITIAL_POS_JOINTS[0]), joint_vel_[0],
k_p * allowed_delta);
k_p * (state_reference.positions[0] - INITIAL_POS_JOINTS[0]), joint_vel_[0],
k_p * COMMON_THRESHOLD);
EXPECT_NEAR(
k_p * (state_msg->reference.positions[1] - INITIAL_POS_JOINTS[1]), joint_vel_[1],
k_p * allowed_delta);
k_p * (state_reference.positions[1] - INITIAL_POS_JOINTS[1]), joint_vel_[1],
k_p * COMMON_THRESHOLD);
}
}

Expand All @@ -1068,9 +1046,7 @@ TEST_P(TrajectoryControllerTestParameterized, trajectory_error_command_joints_le
// check command interface
EXPECT_LT(0.0, joint_eff_[0]);
EXPECT_LT(0.0, joint_eff_[1]);
EXPECT_LT(0.0, state_msg->output.effort[0]);
EXPECT_LT(0.0, state_msg->output.effort[1]);
EXPECT_TRUE(std::isnan(state_msg->output.effort[2]));
EXPECT_TRUE(std::isnan(current_command.effort[2]));
}

executor.cancel();
Expand Down
7 changes: 7 additions & 0 deletions joint_trajectory_controller/test/test_trajectory_controller_utils.hpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -23,6 +23,7 @@

#include "gmock/gmock.h"

#include "control_msgs/msg/joint_trajectory_controller_state.hpp"
#include "hardware_interface/types/hardware_interface_type_values.hpp"
#include "joint_trajectory_controller/joint_trajectory_controller.hpp"
#include "joint_trajectory_controller/trajectory.hpp"
Expand Down Expand Up @@ -154,6 +155,12 @@ class TestableJointTrajectoryController
trajectory_msgs::msg::JointTrajectoryPoint get_state_feedback() { return state_current_; }
trajectory_msgs::msg::JointTrajectoryPoint get_state_reference() { return state_desired_; }
trajectory_msgs::msg::JointTrajectoryPoint get_state_error() { return state_error_; }
trajectory_msgs::msg::JointTrajectoryPoint get_current_command() { return command_current_; }

control_msgs::msg::JointTrajectoryControllerState get_state_msg()
{
return state_publisher_->msg_;
}

rclcpp::WaitSet joint_cmd_sub_wait_set_;
};
Expand Down

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