Test gazebo

.gitignore

@@ -8,7 +8,7 @@ log
 rosbot_hardware_interfaces/
 ros_components_description/
 rosbot_controllers/
-husarion/gazebo_worlds
+husarion/husarion_office_gz
 gazebosim/gz_ros2_control
 
 # pyspelling

rosbot_bringup/config/ekf.yaml

@@ -36,7 +36,7 @@ ekf_filter_node:
         imu0_differential: false
         imu0_relative: true
         imu0_remove_gravitational_acceleration: true
-        
+
         # [ADVANCED] The process noise covariance matrix can be difficult to tune, and can vary for each application, so it is
         # exposed as a configuration parameter. This matrix represents the noise we add to the total error after each
         # prediction step. The better the omnidirectional motion model matches your system, the smaller these values can be.
@@ -73,7 +73,7 @@ ekf_filter_node:
                                       0.0,    0.0,    1e-9, 0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,     0.0,    0.0,    0.0,
                                       0.0,    0.0,    0.0,    1e-9, 0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,     0.0,    0.0,    0.0,
                                       0.0,    0.0,    0.0,    0.0,    1e-9, 0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,     0.0,    0.0,    0.0,
-                                      0.0,    0.0,    0.0,    0.0,    0.0,    1e-9, 0.0,    0.0,    0.0,    0.0,     0.0,     0.0,     0.0,    0.0,    0.0,
+                                      0.0,    0.0,    0.0,    0.0,    0.0,    1e-8, 0.0,    0.0,    0.0,    0.0,     0.0,     0.0,     0.0,    0.0,    0.0,
                                       0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    1e-9, 0.0,    0.0,    0.0,     0.0,     0.0,     0.0,    0.0,    0.0,
                                       0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    1e-9, 0.0,    0.0,     0.0,     0.0,     0.0,    0.0,    0.0,
                                       0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    1e-9, 0.0,     0.0,     0.0,     0.0,    0.0,    0.0,

rosbot_bringup/test/bringup_test_node.py

@@ -21,7 +21,9 @@
 from rclpy.node import Node
 
 from sensor_msgs.msg import JointState, Imu
-from nav_msgs.msg import Odometry
+from tf2_ros import TransformException
+from tf2_ros.buffer import Buffer
+from tf2_ros.transform_listener import TransformListener
 
 
 class BringupTestNode(Node):
@@ -31,7 +33,7 @@ class BringupTestNode(Node):
 
     def __init__(self, name="test_node"):
         super().__init__(name)
-        self.odom_msg_event = Event()
+        self.odom_tf_event = Event()
 
     def create_test_subscribers_and_publishers(self):
         self.imu_publisher = self.create_publisher(Imu, "_imu/data_raw", 10)
@@ -40,26 +42,34 @@ def create_test_subscribers_and_publishers(self):
             JointState, "_motors_response", 10
         )
 
-        self.odom_sub = self.create_subscription(
-            Odometry, "/odometry/filtered", self.odometry_callback, 10
-        )
+        self.tf_buffer = Buffer()
+        self.tf_listener = TransformListener(self.tf_buffer, self)
+
         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 odometry_callback(self, data):
-        self.odom_msg_event.set()
-
     def start_publishing_fake_hardware(self):
         self.timer = self.create_timer(
             1.0 / self.ROSBOT_HARDWARE_PUBLISHERS_RATE,
-            self.publish_fake_hardware_messages,
+            self.timer_callback,
         )
 
+    def timer_callback(self):
+        self.publish_fake_hardware_messages()
+        self.lookup_transform_odom()
+
     def publish_fake_hardware_messages(self):
         imu_msg = Imu()
         imu_msg.header.stamp = self.get_clock().now().to_msg()

rosbot_bringup/test/test_diff_drive_ekf.py

@@ -58,10 +58,10 @@ def test_bringup_startup_success():
         node.start_publishing_fake_hardware()
 
         node.start_node_thread()
-        msgs_received_flag = node.odom_msg_event.wait(timeout=10.0)
+        msgs_received_flag = node.odom_tf_event.wait(timeout=10.0)
         assert (
             msgs_received_flag
-        ), "Expected Odom message but it was not received. Check robot_localization!"
+        ), "Expected odom to base_link tf but it was not received. Check robot_localization!"
 
     finally:
         rclpy.shutdown()

rosbot_bringup/test/test_mecanum_ekf.py

@@ -58,9 +58,10 @@ def test_bringup_startup_success():
         node.start_publishing_fake_hardware()
 
         node.start_node_thread()
-        msgs_received_flag = node.odom_msg_event.wait(timeout=10.0)
+        msgs_received_flag = node.odom_tf_event.wait(timeout=10.0)
         assert (
             msgs_received_flag
-        ), "Expected Odom message but it was not received. Check robot_localization!"
+        ), "Expected odom to base_link tf but it was not received. Check robot_localization!"
+
     finally:
         rclpy.shutdown()

rosbot_description/urdf/wheel.urdf.xacro

@@ -63,7 +63,7 @@
       <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="1.5" velocity="5.0" />
+      <limit effort="1.5" velocity="24.0" />
       <dynamics damping="0.001" friction="0.001" />
     </joint>
 

rosbot_gazebo/launch/simulation.launch.py

@@ -1,10 +1,25 @@
+# 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,
 )
 from launch.substitutions import (
     PathJoinSubstitution,
+    PythonExpression,
     LaunchConfiguration,
 )
 from launch.launch_description_sources import PythonLaunchDescriptionSource
@@ -19,15 +34,34 @@ 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)"
+        ),
     )
 
-    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]
 
     use_gpu = LaunchConfiguration("use_gpu")
     declare_use_gpu_arg = DeclareLaunchArgument(
@@ -46,7 +80,10 @@ 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(
@@ -68,26 +105,23 @@ def generate_launch_description():
         ],
         output="screen",
     )
+
     ign_bridge = Node(
         package="ros_gz_bridge",
         executable="parameter_bridge",
         name="ros_gz_bridge",
         arguments=[
-            "/scan" + "@sensor_msgs/msg/LaserScan" + "[ignition.msgs.LaserScan",
-            "/camera/camera_info"
-            + "@sensor_msgs/msg/CameraInfo"
-            + "[ignition.msgs.CameraInfo",
-            "/camera/depth_image" + "@sensor_msgs/msg/Image" + "[ignition.msgs.Image",
-            "/camera/image" + "@sensor_msgs/msg/Image" + "[ignition.msgs.Image",
-            "/camera/points"
-            + "@sensor_msgs/msg/PointCloud2"
-            + "[ignition.msgs.PointCloudPacked",
-            "/clock" + "@rosgraph_msgs/msg/Clock" + "[ignition.msgs.Clock",
-            # an IR sensor or a sonar are not implemented yet https://github.com/gazebosim/gz-sensors/issues/19
-            "/range/fl" + "@sensor_msgs/msg/LaserScan" + "[ignition.msgs.LaserScan",
-            "/range/fr" + "@sensor_msgs/msg/LaserScan" + "[ignition.msgs.LaserScan",
-            "/range/rl" + "@sensor_msgs/msg/LaserScan" + "[ignition.msgs.LaserScan",
-            "/range/rr" + "@sensor_msgs/msg/LaserScan" + "[ignition.msgs.LaserScan",
+            "/scan@sensor_msgs/msg/LaserScan[ignition.msgs.LaserScan",
+            "/camera/camera_info@sensor_msgs/msg/CameraInfo[ignition.msgs.CameraInfo",
+            "/camera/depth_image@sensor_msgs/msg/Image[ignition.msgs.Image",
+            "/camera/image@sensor_msgs/msg/Image[ignition.msgs.Image",
+            "/camera/points@sensor_msgs/msg/PointCloud2[ignition.msgs.PointCloudPacked",
+            "/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock",
+            # an IR sensor is not implemented yet https://github.com/gazebosim/gz-sensors/issues/19
+            "/range/fl@sensor_msgs/msg/LaserScan[ignition.msgs.LaserScan",
+            "/range/fr@sensor_msgs/msg/LaserScan[ignition.msgs.LaserScan",
+            "/range/rl@sensor_msgs/msg/LaserScan[ignition.msgs.LaserScan",
+            "/range/rr@sensor_msgs/msg/LaserScan[ignition.msgs.LaserScan",
         ],
         remappings=[
             ("/camera/camera_info", "/camera/color/camera_info"),
@@ -139,8 +173,10 @@ def generate_launch_description():
         [
             declare_mecanum_arg,
             declare_world_arg,
+            declare_headless_arg,
             declare_use_gpu_arg,
-            # Sets use_sim_time for all nodes started below (doesn't work for nodes started from ignition gazebo)
+            # 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_gazebo/package.xml

@@ -4,7 +4,7 @@
   <name>rosbot_gazebo</name>
   <version>0.8.4</version>
 
-  <description>The rosbot_gazebo package</description>
+  <description>Gazebo Ignition simulation for ROSbot 2, 2R, PRO</description>
   <license>Apache License 2.0</license>
 
   <author email="[email protected]">Krzysztof Wojciechowski</author>
@@ -14,8 +14,6 @@
   <url type="repository">https://github.com/husarion/rosbot_ros</url>
   <url type="bugtracker">https://github.com/husarion/rosbot_ros/issues</url>
 
-  <buildtool_depend>ament_cmake</buildtool_depend>
-
   <exec_depend>rosbot_bringup</exec_depend>
 
   <exec_depend>launch</exec_depend>
@@ -29,7 +27,17 @@
   <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>
+
   <export>
-    <build_type>ament_cmake</build_type>
+    <build_type>ament_python</build_type>
   </export>
 </package>

rosbot_gazebo/setup.cfg

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

rosbot_gazebo/setup.py

@@ -0,0 +1,26 @@
+import os
+from glob import glob
+from setuptools import find_packages, setup
+
+package_name = "rosbot_gazebo"
+
+setup(
+    name=package_name,
+    version="0.8.0",
+    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="[email protected]",
+    description="Gazebo Ignition simulation for ROSbot 2, 2R, PRO",
+    license="Apache License 2.0",
+    tests_require=["pytest"],
+    entry_points={
+        "console_scripts": [],
+    },
+)

rosbot_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()