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[RotationShimController] Fix test for rotate to goal heading (#4289) #4391

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merged 1 commit into from
Jun 3, 2024
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[RotationShimController] Fix test for rotate to goal heading (#4289) #4391

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22 changes: 17 additions & 5 deletions nav2_rotation_shim_controller/test/test_shim_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -343,13 +343,16 @@ TEST(RotationShimControllerTest, computeVelocityGoalRotationTests) {

// Test state update and path setting
nav_msgs::msg::Path path;
path.header.frame_id = "fake_frame";
path.header.frame_id = "base_link";
path.poses.resize(4);

geometry_msgs::msg::PoseStamped pose;
pose.header.frame_id = "base_link";
geometry_msgs::msg::Twist velocity;
nav2_controller::SimpleGoalChecker checker;
node->declare_parameter(
"checker.xy_goal_tolerance",
1.0);
checker.initialize(node, "checker", costmap);

path.header.frame_id = "base_link";
Expand All @@ -359,15 +362,24 @@ TEST(RotationShimControllerTest, computeVelocityGoalRotationTests) {
path.poses[1].pose.position.y = 0.05;
path.poses[2].pose.position.x = 0.10;
path.poses[2].pose.position.y = 0.10;
// goal position within checker xy_goal_tolerance
path.poses[3].pose.position.x = 0.20;
path.poses[3].pose.position.y = 0.20;
// goal heading 45 degrees to the left
path.poses[3].pose.orientation.z = -0.3826834;
path.poses[3].pose.orientation.w = 0.9238795;
path.poses[3].header.frame_id = "base_link";

// this should make the goal checker to validated the fact that the robot is in range
// of the goal. The rotation shim controller should rotate toward the goal heading
// then it will throw an exception because the costmap is bogus
controller->setPlan(path);
EXPECT_THROW(controller->computeVelocityCommands(pose, velocity, &checker), std::runtime_error);
auto cmd_vel = controller->computeVelocityCommands(pose, velocity, &checker);
EXPECT_EQ(cmd_vel.twist.angular.z, -1.8);

// goal heading 45 degrees to the right
path.poses[3].pose.orientation.z = 0.3826834;
path.poses[3].pose.orientation.w = 0.9238795;
controller->setPlan(path);
cmd_vel = controller->computeVelocityCommands(pose, velocity, &checker);
EXPECT_EQ(cmd_vel.twist.angular.z, 1.8);
}

TEST(RotationShimControllerTest, testDynamicParameter)
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