planner_tester.hpp

// Copyright (c) 2018 Intel Corporation
//
// 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. Reserved.
 
#ifndef PLANNING__PLANNER_TESTER_HPP_
#define PLANNING__PLANNER_TESTER_HPP_
 
#include <gtest/gtest.h>
#include <memory>
#include <string>
#include <thread>
#include <algorithm>
 
#include "rclcpp/rclcpp.hpp"
#include "rclcpp_action/rclcpp_action.hpp"
#include "nav2_msgs/action/compute_path_to_pose.hpp"
#include "nav_msgs/msg/occupancy_grid.hpp"
#include "nav2_msgs/msg/costmap.hpp"
#include "nav2_msgs/srv/get_costmap.hpp"
#include "nav2_msgs/srv/is_path_valid.hpp"
#include "visualization_msgs/msg/marker.hpp"
#include "nav2_util/costmap.hpp"
#include "nav2_util/node_thread.hpp"
#include "geometry_msgs/msg/pose_stamped.hpp"
#include "geometry_msgs/msg/transform_stamped.hpp"
#include "tf2_msgs/msg/tf_message.hpp"
#include "nav2_planner/planner_server.hpp"
#include "tf2_ros/transform_broadcaster.h"
 
namespace nav2_system_tests
{
 
class NavFnPlannerTester : public nav2_planner::PlannerServer
{
public:
  NavFnPlannerTester()
  : PlannerServer()
  {
  }
 
  void printCostmap()
  {
    // print costmap for debug
    for (size_t i = 0; i != costmap_->getSizeInCellsX() * costmap_->getSizeInCellsY(); i++) {
      if (i % costmap_->getSizeInCellsX() == 0) {
        std::cout << "" << std::endl;
      }
      std::cout << costmap_ros_->getCostmap()->getCharMap()[i] << " ";
    }
    std::cout << "" << std::endl;
  }
 
  void setCostmap(nav2_util::Costmap * costmap)
  {
    std::unique_lock<nav2_costmap_2d::Costmap2D::mutex_t> lock(
      *(costmap_ros_->getCostmap()->getMutex()));
 
    nav2_msgs::msg::CostmapMetaData prop;
    nav2_msgs::msg::Costmap cm = costmap->get_costmap(prop);
    prop = cm.metadata;
    costmap_ros_->getCostmap()->resizeMap(
      prop.size_x, prop.size_y,
      prop.resolution, prop.origin.position.x, prop.origin.position.x);
    // Volatile prevents compiler from treating costmap_ptr as unused or changing its address
    volatile unsigned char * costmap_ptr = costmap_ros_->getCostmap()->getCharMap();
    delete[] costmap_ptr;
    costmap_ptr = new unsigned char[prop.size_x * prop.size_y];
    std::copy(cm.data.begin(), cm.data.end(), costmap_ptr);
  }
 
  bool createPath(
    const geometry_msgs::msg::PoseStamped & goal,
    nav_msgs::msg::Path & path)
  {
    geometry_msgs::msg::PoseStamped start;
    if (!nav2_util::getCurrentPose(start, *tf_, "map", "base_link", 0.1)) {
      return false;
    }
    try {
      auto dummy_cancel_checker = []() {return false;};
      path = planners_["GridBased"]->createPlan(start, goal, dummy_cancel_checker);
      // The situation when createPlan() did not throw any exception
      // does not guarantee that plan was created correctly.
      // So it should be checked additionally that path is correct.
      if (!path.poses.size()) {
        return false;
      }
    } catch (...) {
      return false;
    }
    return true;
  }
 
  void onCleanup(const rclcpp_lifecycle::State & state)
  {
    on_cleanup(state);
  }
 
  void onActivate(const rclcpp_lifecycle::State & state)
  {
    on_activate(state);
  }
 
  void onDeactivate(const rclcpp_lifecycle::State & state)
  {
    on_deactivate(state);
  }
 
  void onConfigure(const rclcpp_lifecycle::State & state)
  {
    on_configure(state);
  }
};
 
enum class TaskStatus : int8_t
{
  SUCCEEDED = 1,
  FAILED = 2,
  RUNNING = 3,
};
 
class PlannerTester : public rclcpp::Node
{
public:
  using ComputePathToPoseCommand = geometry_msgs::msg::PoseStamped;
  using ComputePathToPoseResult = nav_msgs::msg::Path;
 
  PlannerTester();
  ~PlannerTester();
 
  // Activate the tester before running tests
  void activate();
  void deactivate();
 
  // Loads the provided map and and generates a costmap from it.
  void loadDefaultMap();
 
  // Alternatively, use a preloaded 10x10 costmap
  void loadSimpleCostmap(const nav2_util::TestCostmap & testCostmapType);
 
  // Runs a single test with default poses depending on the loaded map
  // Success criteria is a collision free path and a deviation to a
  // reference path smaller than a tolerance.
  bool defaultPlannerTest(
    ComputePathToPoseResult & path,
    const double deviation_tolerance = 1.0);
 
 
  // Runs multiple tests with random initial and goal poses
  bool defaultPlannerRandomTests(
    const unsigned int number_tests,
    const float acceptable_fail_ratio);
 
  bool isPathValid(nav_msgs::msg::Path & path);
 
private:
  void setCostmap();
 
  TaskStatus createPlan(
    const ComputePathToPoseCommand & goal,
    ComputePathToPoseResult & path
  );
 
  bool is_active_;
  bool map_set_;
  bool costmap_set_;
  bool using_fake_costmap_;
 
  // Parameters of the costmap
  bool trinary_costmap_;
  bool track_unknown_space_;
  int lethal_threshold_;
  int unknown_cost_value_;
  nav2_util::TestCostmap testCostmapType_;
 
  // The static map
  std::shared_ptr<nav_msgs::msg::OccupancyGrid> map_;
 
  // The costmap representation of the static map
  std::unique_ptr<nav2_util::Costmap> costmap_;
 
  // The global planner
  std::shared_ptr<NavFnPlannerTester> planner_tester_;
 
  // The is path valid client
  rclcpp::Client<nav2_msgs::srv::IsPathValid>::SharedPtr path_valid_client_;
 
  // A thread for spinning the ROS node
  std::unique_ptr<nav2_util::NodeThread> spin_thread_;
 
  // The tester must provide the robot pose through a transform
  std::unique_ptr<geometry_msgs::msg::TransformStamped> base_transform_;
  std::shared_ptr<tf2_ros::TransformBroadcaster> tf_broadcaster_;
  rclcpp::TimerBase::SharedPtr transform_timer_;
  void publishRobotTransform();
  void startRobotTransform();
  void updateRobotPosition(const geometry_msgs::msg::Point & position);
 
  // Occupancy grid publisher for visualization
  rclcpp::Publisher<nav_msgs::msg::OccupancyGrid>::SharedPtr map_pub_;
  rclcpp::TimerBase::SharedPtr map_timer_;
  rclcpp::WallRate map_publish_rate_;
  void mapCallback();
 
  // Executes a test run with the provided end points.
  // Success criteria is a collision free path.
  // TODO(orduno): #443 Assuming a robot the size of a costmap cell
  bool plannerTest(
    const geometry_msgs::msg::Point & robot_position,
    const ComputePathToPoseCommand & goal,
    ComputePathToPoseResult & path);
 
  bool isCollisionFree(const ComputePathToPoseResult & path);
 
  bool isWithinTolerance(
    const geometry_msgs::msg::Point & robot_position,
    const ComputePathToPoseCommand & goal,
    const ComputePathToPoseResult & path) const;
 
  bool isWithinTolerance(
    const geometry_msgs::msg::Point & robot_position,
    const ComputePathToPoseCommand & goal,
    const ComputePathToPoseResult & path,
    const double deviationTolerance,
    const ComputePathToPoseResult & reference_path) const;
 
  void printPath(const ComputePathToPoseResult & path) const;
};
 
}  // namespace nav2_system_tests
 
#endif  // PLANNING__PLANNER_TESTER_HPP_