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/*
* Copyright (C) 2012 Open Source Robotics Foundation
*
* 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 <string.h>
#include "gazebo/transport/TransportTypes.hh"
#include "gazebo/transport/Node.hh"
#include "gazebo/physics/MeshShape.hh"
#include "gazebo/rendering/RenderEngine.hh"
#include "gazebo/rendering/Camera.hh"
#include "gazebo/sensors/SensorsIface.hh"
#include "gazebo/sensors/CameraSensor.hh"
#include "gazebo/test/ServerFixture.hh"
#include "images_cmp.h"
#include "gazebo/test/helper_physics_generator.hh"
using namespace gazebo;
const double g_tolerance = 1e-4;
class FactoryTest : public ServerFixture,
public testing::WithParamInterface<const char*>
{
public: void BoxSdf(const std::string &_physicsEngine);
public: void Box(const std::string &_physicsEngine);
public: void Sphere(const std::string &_physicsEngine);
public: void Cylinder(const std::string &_physicsEngine);
/// \brief Test spawning an actor with skin only.
/// \param[in] _physicsEngine Physics engine name
public: void ActorSkinOnly(const std::string &_physicsEngine);
/// \brief Test spawning an actor with skin and animation.
/// \param[in] _physicsEngine Physics engine name
public: void ActorSkinAnim(const std::string &_physicsEngine);
/// \brief Test spawning an actor with skin and trajectory.
/// \param[in] _physicsEngine Physics engine name
public: void ActorSkinTrajectory(const std::string &_physicsEngine);
/// \brief Test spawning an actor with link and trajectory.
/// \param[in] _physicsEngine Physics engine name
public: void ActorLinkTrajectory(const std::string &_physicsEngine);
/// \brief Test spawning an actor with a plugin.
public: void ActorPlugin();
/// \brief Test spawning an actor with skin, animation and trajectory.
/// \param[in] _physicsEngine Physics engine name
public: void ActorAll(const std::string &_physicsEngine);
public: void Clone(const std::string &_physicsEngine);
};
class LightFactoryTest : public ServerFixture
{
/// \brief Constructor.
public: LightFactoryTest():
responseCbCalled(false), modelInfoCbCalled(false) {}
/// \brief Response callback to get entity information.
/// \param[in] _msg Message holding the requested information.
public: void ResponseCb(ConstResponsePtr &_msg);
/// \brief Model info callback to get model information.
/// \param[in] _msg Message holding the model information.
public: void ModelInfoCb(ConstModelPtr &_msg);
/// \brief Light factory publisher.
protected: transport::PublisherPtr lightFactoryPub;
/// \brief Entity info request publisher.
protected: transport::PublisherPtr requestPub;
/// \brief Entity info response subscriber.
protected: transport::SubscriberPtr responseSub;
/// \brief True if the callback function was called.
protected: bool responseCbCalled;
/// \brief Response message holding the entity information.
protected: msgs::Response resMsg;
/// \brief Mutex for the variables accessed by the callback.
protected: std::mutex resMutex;
/// \brief Subscriber for model info.
protected: transport::SubscriberPtr modelInfoSub;
/// \brief Model message from ~/model/info
protected: msgs::Model modMsg;
/// \brief True if the callback for model info was called
protected: bool modelInfoCbCalled;
/// \brief Mutex for model info callback.
protected: std::mutex modMutex;
/// \brief Factory publisher.
protected: transport::PublisherPtr factoryPub;
};
///////////////////////////////////////////////////
// Verify that sdf is retained by entities spawned
// via factory messages. A change between 1.6, 1.7
// caused entities to lose their sdf data
// (see issue #651)
void FactoryTest::BoxSdf(const std::string &_physicsEngine)
{
ignition::math::Pose3d setPose;
this->Load("worlds/empty.world", true, _physicsEngine);
unsigned int entityCount = 6;
for (unsigned int i = 0; i < entityCount; ++i)
{
std::ostringstream name;
name << "test_box_" << i;
setPose.Set(ignition::math::Vector3d(0, 0, i+0.5),
ignition::math::Quaterniond::Identity);
SpawnBox(name.str(), ignition::math::Vector3d(1, 1, 1), setPose.Pos(),
setPose.Rot().Euler());
}
// This loop must be separate from the previous loop to cause
// the failure.
for (unsigned int i = 0; i < entityCount; ++i)
{
std::ostringstream name;
name << "test_box_" << i;
physics::ModelPtr model = this->GetModel(name.str());
ASSERT_TRUE(model != NULL);
msgs::Model msg;
model->FillMsg(msg);
EXPECT_TRUE(msg.has_pose());
// gzerr << msg.DebugString() << '\n';
}
}
/////////////////////////////////////////////////
TEST_P(FactoryTest, BoxSdf)
{
BoxSdf(GetParam());
}
/////////////////////////////////////////////////
void FactoryTest::Box(const std::string &_physicsEngine)
{
ignition::math::Pose3d setPose, testPose;
this->Load("worlds/empty.world", true, _physicsEngine);
for (unsigned int i = 0; i < 100; i++)
{
std::ostringstream name;
name << "test_box_" << i;
setPose.Set(ignition::math::Vector3d(0, 0, i+0.5),
ignition::math::Quaterniond::Identity);
SpawnBox(name.str(), ignition::math::Vector3d(1, 1, 1), setPose.Pos(),
setPose.Rot().Euler());
testPose = EntityPose(name.str());
EXPECT_TRUE(testPose.Pos().Equal(setPose.Pos(), 0.1));
}
}
/////////////////////////////////////////////////
TEST_P(FactoryTest, Box)
{
Box(GetParam());
}
/////////////////////////////////////////////////
void FactoryTest::Sphere(const std::string &_physicsEngine)
{
ignition::math::Pose3d setPose, testPose;
this->Load("worlds/empty.world", true, _physicsEngine);
for (unsigned int i = 0; i < 100; i++)
{
std::ostringstream name;
name << "test_sphere_" << i;
setPose.Set(ignition::math::Vector3d(0, 0, i+0.5),
ignition::math::Quaterniond::Identity);
SpawnSphere(name.str(), setPose.Pos(), setPose.Rot().Euler());
testPose = EntityPose(name.str());
EXPECT_TRUE(testPose.Pos().Equal(setPose.Pos(), 0.1));
}
}
/////////////////////////////////////////////////
TEST_P(FactoryTest, Sphere)
{
Sphere(GetParam());
}
/////////////////////////////////////////////////
void FactoryTest::Cylinder(const std::string &_physicsEngine)
{
ignition::math::Pose3d setPose, testPose;
this->Load("worlds/empty.world", true, _physicsEngine);
for (unsigned int i = 0; i < 100; i++)
{
std::ostringstream name;
name << "test_cylinder_" << i;
setPose.Set(
ignition::math::Vector3d(0, 0, i+0.5),
ignition::math::Quaterniond::Identity);
SpawnCylinder(name.str(), setPose.Pos(), setPose.Rot().Euler());
testPose = EntityPose(name.str());
EXPECT_TRUE(testPose.Pos().Equal(setPose.Pos(), 0.1));
}
}
/////////////////////////////////////////////////
TEST_P(FactoryTest, Cylinder)
{
Cylinder(GetParam());
}
/////////////////////////////////////////////////
void FactoryTest::ActorSkinOnly(const std::string &_physicsEngine)
{
this->Load("worlds/empty.world", true, _physicsEngine);
// Check there is no actor yet
std::string actorName("test_actor");
EXPECT_FALSE(this->GetModel(actorName));
// Spawn from actor SDF string
std::string skinFile("walk.dae");
std::ostringstream actorStr;
actorStr << "<sdf version='" << SDF_VERSION << "'>"
<< "<actor name ='" << actorName << "'>"
<< " <skin>"
<< " <filename>" << skinFile << "</filename>"
<< " </skin>"
<< "</actor>"
<< "</sdf>";
msgs::Factory msg;
msg.set_sdf(actorStr.str());
this->factoryPub->Publish(msg);
// Wait until actor was spawned
this->WaitUntilEntitySpawn(actorName, 300, 10);
auto model = this->GetModel(actorName);
ASSERT_TRUE(model != nullptr);
// Convert to actor
auto actor = boost::dynamic_pointer_cast<physics::Actor>(model);
ASSERT_TRUE(actor != nullptr);
// Check it is active
EXPECT_TRUE(actor->IsActive());
// Check the SDF
auto sdf = actor->GetSDF();
ASSERT_TRUE(sdf != nullptr);
// Check skin is still there
EXPECT_TRUE(sdf->HasElement("skin"));
auto skinElem = sdf->GetElement("skin");
ASSERT_TRUE(skinElem != nullptr);
EXPECT_EQ(skinElem->GetElement("filename")->Get<std::string>(),
skinFile);
// Check the skin file was copied into the animation
EXPECT_TRUE(sdf->HasElement("animation"));
auto animationElem = sdf->GetElement("animation");
ASSERT_TRUE(animationElem != nullptr);
EXPECT_EQ(animationElem->GetElement("filename")->Get<std::string>(),
skinFile);
// Check a default script was added
EXPECT_TRUE(sdf->HasElement("script"));
// Check links were added
EXPECT_TRUE(sdf->HasElement("link"));
auto linkElem = sdf->GetElement("link");
EXPECT_TRUE(linkElem != nullptr);
int linkCount = 0;
while (linkElem)
{
linkCount++;
linkElem = linkElem->GetNextElement("link");
}
EXPECT_EQ(linkCount, 32);
// Check the skin animation was loaded as default
auto skelAnims = actor->SkeletonAnimations();
EXPECT_FALSE(skelAnims.empty());
EXPECT_EQ(skelAnims.size(), 1u);
EXPECT_TRUE(skelAnims["__default__"] != nullptr);
}
/////////////////////////////////////////////////
TEST_P(FactoryTest, ActorSkinOnly)
{
ActorSkinOnly(GetParam());
}
/////////////////////////////////////////////////
void FactoryTest::ActorSkinAnim(const std::string &_physicsEngine)
{
this->Load("worlds/empty.world", true, _physicsEngine);
// Check there is no actor yet
std::string actorName("test_actor");
EXPECT_FALSE(this->GetModel(actorName));
// Spawn from actor SDF string
std::string skinFile("walk.dae");
std::string animFile("moonwalk.dae");
std::string animName("moonwalk_animation");
std::ostringstream actorStr;
actorStr << "<sdf version='" << SDF_VERSION << "'>"
<< "<actor name ='" << actorName << "'>"
<< " <skin>"
<< " <filename>" << skinFile << "</filename>"
<< " </skin>"
<< " <animation name='" << animName << "'>"
<< " <filename>" << animFile << "</filename>"
<< " </animation>"
<< "</actor>"
<< "</sdf>";
msgs::Factory msg;
msg.set_sdf(actorStr.str());
this->factoryPub->Publish(msg);
// Wait until actor was spawned
this->WaitUntilEntitySpawn(actorName, 300, 10);
auto model = this->GetModel(actorName);
ASSERT_TRUE(model != nullptr);
// Convert to actor
auto actor = boost::dynamic_pointer_cast<physics::Actor>(model);
ASSERT_TRUE(actor != nullptr);
// Check it is active
EXPECT_TRUE(actor->IsActive());
// Check the SDF
auto sdf = actor->GetSDF();
ASSERT_TRUE(sdf != nullptr);
// Check skin is still there
EXPECT_TRUE(sdf->HasElement("skin"));
auto skinElem = sdf->GetElement("skin");
ASSERT_TRUE(skinElem != nullptr);
EXPECT_EQ(skinElem->GetElement("filename")->Get<std::string>(),
skinFile);
// Check the animation is still there
EXPECT_TRUE(sdf->HasElement("animation"));
auto animationElem = sdf->GetElement("animation");
ASSERT_TRUE(animationElem != nullptr);
EXPECT_EQ(animationElem->GetElement("filename")->Get<std::string>(),
animFile);
// Check a default script was added
EXPECT_TRUE(sdf->HasElement("script"));
// Check links were added
EXPECT_TRUE(sdf->HasElement("link"));
auto linkElem = sdf->GetElement("link");
EXPECT_TRUE(linkElem != nullptr);
int linkCount = 0;
while (linkElem)
{
linkCount++;
linkElem = linkElem->GetNextElement("link");
}
EXPECT_EQ(linkCount, 32);
// Check the anim animation was loaded
auto skelAnims = actor->SkeletonAnimations();
EXPECT_FALSE(skelAnims.empty());
EXPECT_EQ(skelAnims.size(), 1u);
EXPECT_TRUE(skelAnims[animName] != nullptr);
}
/////////////////////////////////////////////////
void FactoryTest::ActorSkinTrajectory(const std::string &_physicsEngine)
{
this->Load("worlds/empty.world", true, _physicsEngine);
// Check there is no actor yet
std::string actorName("test_actor");
EXPECT_FALSE(this->GetModel(actorName));
// Spawn from actor SDF string
std::string skinFile("run.dae");
std::string animName("run_animation");
std::ostringstream actorStr;
actorStr << "<sdf version='" << SDF_VERSION << "'>"
<< "<actor name ='" << actorName << "'>"
<< " <skin>"
<< " <filename>" << skinFile << "</filename>"
<< " </skin>"
<< " <script>"
<< " <trajectory id='0' type='" << animName << "'>"
<< " <waypoint>"
<< " <time>0.0</time>"
<< " <pose>1 1 0 0 0 0</pose>"
<< " </waypoint>"
<< " <waypoint>"
<< " <time>1.0</time>"
<< " <pose>2 2 0 0 0 0</pose>"
<< " </waypoint>"
<< " </trajectory>"
<< " </script>"
<< "</actor>"
<< "</sdf>";
msgs::Factory msg;
msg.set_sdf(actorStr.str());
this->factoryPub->Publish(msg);
// Wait until actor was spawned
this->WaitUntilEntitySpawn(actorName, 300, 10);
auto model = this->GetModel(actorName);
ASSERT_TRUE(model != nullptr);
// Convert to actor
auto actor = boost::dynamic_pointer_cast<physics::Actor>(model);
ASSERT_TRUE(actor != nullptr);
// Check it is active
EXPECT_TRUE(actor->IsActive());
// Check the SDF
auto sdf = actor->GetSDF();
ASSERT_TRUE(sdf != nullptr);
// Check skin is still there
EXPECT_TRUE(sdf->HasElement("skin"));
auto skinElem = sdf->GetElement("skin");
ASSERT_TRUE(skinElem != nullptr);
EXPECT_EQ(skinElem->GetElement("filename")->Get<std::string>(),
skinFile);
// Check the skin file and the trajectory type were copied into the animation
EXPECT_TRUE(sdf->HasElement("animation"));
auto animationElem = sdf->GetElement("animation");
ASSERT_TRUE(animationElem != nullptr);
EXPECT_EQ(animationElem->GetElement("filename")->Get<std::string>(),
skinFile);
EXPECT_EQ(animationElem->Get<std::string>("name"), animName);
// Check the script is still there
EXPECT_TRUE(sdf->HasElement("script"));
// Check links were added
EXPECT_TRUE(sdf->HasElement("link"));
auto linkElem = sdf->GetElement("link");
EXPECT_TRUE(linkElem != nullptr);
int linkCount = 0;
while (linkElem)
{
linkCount++;
linkElem = linkElem->GetNextElement("link");
}
EXPECT_EQ(linkCount, 32);
// Check the anim animation was loaded
auto skelAnims = actor->SkeletonAnimations();
EXPECT_FALSE(skelAnims.empty());
EXPECT_EQ(skelAnims.size(), 1u);
EXPECT_TRUE(skelAnims[animName] != nullptr);
}
/////////////////////////////////////////////////
TEST_P(FactoryTest, ActorSkinTrajectory)
{
ActorSkinTrajectory(GetParam());
}
/////////////////////////////////////////////////
void FactoryTest::ActorLinkTrajectory(const std::string &_physicsEngine)
{
this->Load("worlds/empty.world", true, _physicsEngine);
// Check there is no actor yet
std::string actorName("test_actor");
EXPECT_FALSE(this->GetModel(actorName));
// Spawn from actor SDF string
std::ostringstream actorStr;
std::string animName("link_animation");
actorStr << "<sdf version='" << SDF_VERSION << "'>"
<< "<actor name ='" << actorName << "'>"
<< " <link name='link'>"
<< " <visual name='visual'>"
<< " <geometry>"
<< " <box>"
<< " <size>.2 .2 .2</size>"
<< " </box>"
<< " </geometry>"
<< " </visual>"
<< " </link>"
<< " <script>"
<< " <trajectory id='0' type='" << animName << "'>"
<< " <waypoint>"
<< " <time>0.0</time>"
<< " <pose>1 1 0 0 0 0</pose>"
<< " </waypoint>"
<< " <waypoint>"
<< " <time>1.0</time>"
<< " <pose>2 2 0 0 0 0</pose>"
<< " </waypoint>"
<< " </trajectory>"
<< " </script>"
<< "</actor>"
<< "</sdf>";
msgs::Factory msg;
msg.set_sdf(actorStr.str());
this->factoryPub->Publish(msg);
// Wait until actor was spawned
int sleep = 0;
int maxSleep = 10;
auto model = this->GetModel(actorName);
while (!model && sleep < maxSleep)
{
common::Time::MSleep(300);
model = this->GetModel(actorName);
++sleep;
}
ASSERT_TRUE(model != nullptr);
// Convert to actor
auto actor = boost::dynamic_pointer_cast<physics::Actor>(model);
ASSERT_TRUE(actor != nullptr);
// Check it is active
EXPECT_TRUE(actor->IsActive());
// Check the SDF
auto sdf = actor->GetSDF();
ASSERT_TRUE(sdf != nullptr);
// Check skin is still there
EXPECT_FALSE(sdf->HasElement("skin"));
// Check the skin file and the trajectory type were copied into the animation
EXPECT_FALSE(sdf->HasElement("animation"));
// Check the script is still there
EXPECT_TRUE(sdf->HasElement("script"));
// Check there's only one link
EXPECT_TRUE(sdf->HasElement("link"));
auto linkElem = sdf->GetElement("link");
EXPECT_TRUE(linkElem != nullptr);
int linkCount = 0;
while (linkElem)
{
linkCount++;
linkElem = linkElem->GetNextElement("link");
}
EXPECT_EQ(linkCount, 1);
// Check there's no animation
auto skelAnims = actor->SkeletonAnimations();
EXPECT_TRUE(skelAnims.empty());
}
/////////////////////////////////////////////////
TEST_P(FactoryTest, ActorLinkTrajectory)
{
ActorLinkTrajectory(GetParam());
}
/////////////////////////////////////////////////
TEST_F(FactoryTest, ActorPlugin)
{
// Load a world with the default physics engine
this->Load("worlds/empty.world", true);
// Check there is no actor yet
std::string actorName("test_actor");
EXPECT_FALSE(this->GetModel(actorName));
// Spawn from actor SDF string
std::string skinFile("walk.dae");
std::string animFile("walk.dae");
std::string animName("walking");
std::ostringstream actorStr;
actorStr << "<sdf version='" << SDF_VERSION << "'>"
<< "<actor name ='" << actorName << "'>"
<< " <skin>"
<< " <filename>" << skinFile << "</filename>"
<< " </skin>"
<< " <animation name='" << animName << "'>"
<< " <filename>" << animFile << "</filename>"
<< " <interpolate_x>true</interpolate_x>"
<< " </animation>"
<< " <plugin name='actorPlugin' filename='libActorPlugin.so'>"
<< " <target>0 -5 1.2138</target>"
<< " <target_weight>1.15</target_weight>"
<< " <obstacle_weight>1.8</obstacle_weight>"
<< " <animation_factor>5.1</animation_factor>"
<< " </plugin>"
<< "</actor>"
<< "</sdf>";
msgs::Factory msg;
msg.set_sdf(actorStr.str());
this->factoryPub->Publish(msg);
// Wait until actor was spawned
this->WaitUntilEntitySpawn(actorName, 300, 10);
auto model = this->GetModel(actorName);
ASSERT_NE(nullptr, model);
// Convert to actor
auto actor = boost::dynamic_pointer_cast<physics::Actor>(model);
ASSERT_NE(nullptr, actor);
// Check it is active
EXPECT_TRUE(actor->IsActive());
// Check the SDF
auto sdf = actor->GetSDF();
ASSERT_NE(nullptr, sdf);
// Check the plugin is still there
EXPECT_TRUE(sdf->HasElement("plugin"));
EXPECT_EQ(1u, actor->GetPluginCount());
// Check the plugin was loaded and set a custom trajectory
EXPECT_NE(nullptr, actor->CustomTrajectory());
}
/////////////////////////////////////////////////
void FactoryTest::ActorAll(const std::string &_physicsEngine)
{
this->Load("worlds/empty.world", true, _physicsEngine);
// Check there is no actor yet
std::string actorName("test_actor");
EXPECT_FALSE(this->GetModel(actorName));
// Spawn from actor SDF string
std::string skinFile("moonwalk.dae");
std::string animFile("walk.dae");
std::string animName("walk_animation");
std::ostringstream actorStr;
actorStr << "<sdf version='" << SDF_VERSION << "'>"
<< "<actor name ='" << actorName << "'>"
<< " <skin>"
<< " <filename>" << skinFile << "</filename>"
<< " </skin>"
<< " <animation name='" << animName << "'>"
<< " <filename>" << animFile << "</filename>"
<< " </animation>"
<< " <script>"
<< " <trajectory id='0' type='" << animName << "'>"
<< " <waypoint>"
<< " <time>0.0</time>"
<< " <pose>1 1 0 0 0 0</pose>"
<< " </waypoint>"
<< " <waypoint>"
<< " <time>1.0</time>"
<< " <pose>2 2 0 0 0 0</pose>"
<< " </waypoint>"
<< " </trajectory>"
<< " </script>"
<< "</actor>"
<< "</sdf>";
msgs::Factory msg;
msg.set_sdf(actorStr.str());
this->factoryPub->Publish(msg);
// Wait until actor was spawned
this->WaitUntilEntitySpawn(actorName, 300, 10);
auto model = this->GetModel(actorName);
ASSERT_TRUE(model != nullptr);
// Convert to actor
auto actor = boost::dynamic_pointer_cast<physics::Actor>(model);
ASSERT_TRUE(actor != nullptr);
// Check it is active
EXPECT_TRUE(actor->IsActive());
// Check the SDF
auto sdf = actor->GetSDF();
ASSERT_TRUE(sdf != nullptr);
// Check skin is still there
EXPECT_TRUE(sdf->HasElement("skin"));
auto skinElem = sdf->GetElement("skin");
ASSERT_TRUE(skinElem != nullptr);
EXPECT_EQ(skinElem->GetElement("filename")->Get<std::string>(),
skinFile);
// Check the animation is still there
EXPECT_TRUE(sdf->HasElement("animation"));
auto animationElem = sdf->GetElement("animation");
ASSERT_TRUE(animationElem != nullptr);
EXPECT_EQ(animationElem->GetElement("filename")->Get<std::string>(),
animFile);
// Check the script is still there
EXPECT_TRUE(sdf->HasElement("script"));
// Check links were added
EXPECT_TRUE(sdf->HasElement("link"));
auto linkElem = sdf->GetElement("link");
EXPECT_TRUE(linkElem != nullptr);
int linkCount = 0;
while (linkElem)
{
linkCount++;
linkElem = linkElem->GetNextElement("link");
}
EXPECT_EQ(linkCount, 32);
// Check the anim animation was loaded
auto skelAnims = actor->SkeletonAnimations();
EXPECT_FALSE(skelAnims.empty());
EXPECT_EQ(skelAnims.size(), 1u);
EXPECT_TRUE(skelAnims[animName] != nullptr);
// Check no custom trajectory has been set
EXPECT_EQ(nullptr, actor->CustomTrajectory());
}
/////////////////////////////////////////////////
TEST_P(FactoryTest, ActorAll)
{
ActorAll(GetParam());
}
/////////////////////////////////////////////////
void FactoryTest::Clone(const std::string &_physicsEngine)
{
if (_physicsEngine == "dart")
{
gzerr << "Abort test since dart does not support ray sensor in PR2, "
<< "Please see issue #911.\n";
return;
}
ignition::math::Pose3d testPose;
this->Load("worlds/pr2.world", true, _physicsEngine);
// clone the pr2
std::string name = "pr2";
msgs::Factory msg;
ignition::math::Pose3d clonePose;
clonePose.Set(ignition::math::Vector3d(2, 3, 0.5),
ignition::math::Quaterniond::Identity);
msgs::Set(msg.mutable_pose(), clonePose);
msg.set_clone_model_name(name);
this->factoryPub->Publish(msg);
// Wait for the pr2 clone to spawn
std::string cloneName = name + "_clone";
this->WaitUntilEntitySpawn(cloneName, 100, 100);
EXPECT_TRUE(this->HasEntity(cloneName));
testPose = EntityPose(cloneName);
EXPECT_TRUE(testPose.Pos().Equal(clonePose.Pos(), 0.1));
// Verify properties of the pr2 clone with the original model.
// Check model
physics::ModelPtr model = this->GetModel(name);
ASSERT_TRUE(model != NULL);
physics::ModelPtr modelClone = this->GetModel(cloneName);
ASSERT_TRUE(modelClone != NULL);
EXPECT_EQ(model->GetJointCount(), modelClone->GetJointCount());
EXPECT_EQ(model->GetLinks().size(), modelClone->GetLinks().size());
EXPECT_EQ(model->GetSensorCount(), modelClone->GetSensorCount());
EXPECT_EQ(model->GetPluginCount(), modelClone->GetPluginCount());
EXPECT_EQ(model->GetAutoDisable(), modelClone->GetAutoDisable());
// Check links
physics::Link_V links = model->GetLinks();
physics::Link_V linkClones = modelClone->GetLinks();
for (unsigned int i = 0; i < links.size(); ++i)
{
physics::LinkPtr link = links[i];
physics::LinkPtr linkClone = linkClones[i];
EXPECT_EQ(link->GetSensorCount(), linkClone->GetSensorCount());
EXPECT_EQ(link->GetKinematic(), linkClone->GetKinematic());
// Check collisions
physics::Collision_V collisions = link->GetCollisions();
physics::Collision_V collisionClones = linkClone->GetCollisions();
EXPECT_EQ(collisions.size(), collisionClones.size());
for (unsigned int j = 0; j < collisions.size(); ++j)
{
physics::CollisionPtr collision = collisions[j];
physics::CollisionPtr collisionClone = collisionClones[j];
EXPECT_EQ(collision->GetShapeType(), collisionClone->GetShapeType());
EXPECT_EQ(collision->GetMaxContacts(), collisionClone->GetMaxContacts());
// Check surface
physics::SurfaceParamsPtr surface = collision->GetSurface();
physics::SurfaceParamsPtr cloneSurface = collisionClone->GetSurface();
EXPECT_EQ(surface->collideWithoutContact,
cloneSurface->collideWithoutContact);
EXPECT_EQ(surface->collideWithoutContactBitmask,
cloneSurface->collideWithoutContactBitmask);
}
// Check inertial
physics::InertialPtr inertial = link->GetInertial();
physics::InertialPtr inertialClone = linkClone->GetInertial();
EXPECT_EQ(inertial->Mass(), inertialClone->Mass());
EXPECT_EQ(inertial->CoG(), inertialClone->CoG());
// Expect Inertial Moi to match, even if Principal moments
// and inertial frames change
if (_physicsEngine != "bullet")
{
EXPECT_EQ(inertial->Ign().Moi(), inertialClone->Ign().Moi());
}
else
{
// the default == tolerance of 1e-6, is too strict for bullet
EXPECT_TRUE(inertial->Ign().Moi().Equal(
inertialClone->Ign().Moi(), 1e-5));
}
}
// Check joints
physics::Joint_V joints = model->GetJoints();
physics::Joint_V jointClones = modelClone->GetJoints();
for (unsigned int i = 0; i < joints.size(); ++i)
{
physics::JointPtr joint = joints[i];
physics::JointPtr jointClone = jointClones[i];
EXPECT_EQ(joint->DOF(), jointClone->DOF());
for (unsigned j = 0; j < joint->DOF(); ++j)
{
EXPECT_NEAR(joint->UpperLimit(j), jointClone->UpperLimit(j), g_tolerance);
EXPECT_NEAR(joint->LowerLimit(j), jointClone->LowerLimit(j), g_tolerance);
EXPECT_EQ(joint->GetEffortLimit(j), jointClone->GetEffortLimit(j));
EXPECT_EQ(joint->GetVelocityLimit(j), jointClone->GetVelocityLimit(j));
EXPECT_EQ(joint->GetStopStiffness(j), jointClone->GetStopStiffness(j));
EXPECT_EQ(joint->GetStopDissipation(j),
jointClone->GetStopDissipation(j));
EXPECT_EQ(joint->LocalAxis(j), jointClone->LocalAxis(j));
EXPECT_EQ(joint->GetDamping(j), jointClone->GetDamping(j));
}
}
}
/////////////////////////////////////////////////
TEST_P(FactoryTest, Clone)
{
Clone(GetParam());
}
// Disabling this test for now. Different machines return different
// camera images. Need a better way to evaluate rendered content.
// TEST_F(FactoryTest, Camera)
// {
// if (rendering::RenderEngine::Instance()->GetRenderPathType() ==
// rendering::RenderEngine::NONE)
// return;
//
// math::Pose setPose, testPose;
// Load("worlds/empty.world");
// setPose.Set(ignition::math::Vector3d(-5, 0, 5),
// ignition::math::Quaterniond(0, IGN_DTOR(15), 0));
// SpawnCamera("camera_model", "camera_sensor2", setPose.pos,
// setPose.rot.GetAsEuler());
//
// unsigned char *img = NULL;
// unsigned int width;
// unsigned int height;
// GetFrame("camera_sensor2", &img, width, height);
// ASSERT_EQ(width, static_cast<unsigned int>(320));
// ASSERT_EQ(height, static_cast<unsigned int>(240));
//
// unsigned int diffMax = 0;
// unsigned int diffSum = 0;
// double diffAvg = 0;
// ImageCompare(&img, &empty_world_camera1,
// width, height, 3, diffMax, diffSum, diffAvg);
// // PrintImage("empty_world_camera1", &img, width, height, 3);
// ASSERT_LT(diffSum, static_cast<unsigned int>(100));
// ASSERT_EQ(static_cast<unsigned int>(0), diffMax);
// ASSERT_EQ(0.0, diffAvg);
// }
/////////////////////////////////////////////////
TEST_F(LightFactoryTest, SpawnLight)
{
Load("worlds/empty.world");
physics::WorldPtr world = physics::get_world("default");
ASSERT_TRUE(world != nullptr);
// create lights using ~/factory/light topic
this->lightFactoryPub = this->node->Advertise<msgs::Light>("~/factory/light");
std::string light1Name = "new1_light";
std::string light2Name = "new2_light";
msgs::Light msg;
msg.set_name(light1Name);
ignition::math::Pose3d light1Pose = ignition::math::Pose3d(0, 2, 1, 0, 0, 0);
msgs::Set(msg.mutable_pose(), light1Pose);
this->lightFactoryPub->Publish(msg);
msg.set_name(light2Name);
ignition::math::Pose3d light2Pose = ignition::math::Pose3d(1, 0, 5, 0, 2, 0);
msgs::Set(msg.mutable_pose(), light2Pose);
this->lightFactoryPub->Publish(msg);
// wait for light to spawn
int sleep = 0;
int maxSleep = 50;
while ((!world->LightByName(light1Name) || !world->LightByName(light2Name)) &&
sleep++ < maxSleep)
{
common::Time::MSleep(100);
}
// verify lights in world
physics::LightPtr light1 = world->LightByName(light1Name);
physics::LightPtr light2 = world->LightByName(light2Name);
ASSERT_NE(nullptr, light1);
ASSERT_NE(nullptr, light2);
EXPECT_EQ(light1Name, light1->GetScopedName());
EXPECT_EQ(light1Pose, light1->WorldPose());
EXPECT_EQ(light2Name, light2->GetScopedName());
EXPECT_EQ(light2Pose, light2->WorldPose());
}
/////////////////////////////////////////////////
void LightFactoryTest::ResponseCb(ConstResponsePtr &_msg)
{
if (_msg->request() == "entity_info")
{
std::lock_guard<std::mutex> lk(this->resMutex);
this->responseCbCalled = true;
this->resMsg = *_msg;
}
}
/////////////////////////////////////////////////
void LightFactoryTest::ModelInfoCb(ConstModelPtr &_msg)
{
if (_msg->name() == "test_model")
{
std::lock_guard<std::mutex> lk(this->modMutex);
this->modelInfoCbCalled = true;
this->modMsg = *_msg;
}
}
/////////////////////////////////////////////////
TEST_F(LightFactoryTest, SpawnModelWithLight)
{
Load("worlds/empty.world");
physics::WorldPtr world = physics::get_world("default");
ASSERT_TRUE(world != nullptr);