100 lines
3.0 KiB
C++
100 lines
3.0 KiB
C++
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/*
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* Copyright (C) 2014 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#include <gtest/gtest.h>
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#include "gazebo/physics/World.hh"
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#include "gazebo/physics/Model.hh"
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#include "gazebo/physics/JointController.hh"
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#include "gazebo/common/PID.hh"
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#include "gazebo/test/ServerFixture.hh"
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#include "test_config.h"
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using namespace gazebo;
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class JointControllerTest : public ServerFixture
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{
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};
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/////////////////////////////////////////////////
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TEST_F(JointControllerTest, PositionControl)
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{
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Load("worlds/simple_arm_test.world", true);
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gazebo::physics::WorldPtr world = physics::get_world("default");
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ASSERT_TRUE(world != NULL);
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gazebo::physics::ModelPtr model = world->GetModel("simple_arm");
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gazebo::physics::JointControllerPtr jointController =
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model->GetJointController();
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world->Step(100);
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gazebo::transport::PublisherPtr pub =
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this->node->Advertise<gazebo::msgs::JointCmd>(
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"/gazebo/default/simple_arm/joint_cmd");
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msgs::JointCmd msg;
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msg.set_name("simple_arm::arm_shoulder_pan_joint");
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msg.mutable_position()->set_target(1.0);
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msg.mutable_position()->set_p_gain(10);
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msg.mutable_position()->set_i_gain(0.1);
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msg.mutable_position()->set_d_gain(4.5);
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pub->Publish(msg);
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world->Step(5000);
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math::Angle angle = model->GetJoint("arm_shoulder_pan_joint")->GetAngle(0);
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EXPECT_NEAR(angle.Radian(), 1.0, 0.1);
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}
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/////////////////////////////////////////////////
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TEST_F(JointControllerTest, VelocityControl)
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{
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Load("worlds/simple_arm_test.world", true);
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gazebo::physics::WorldPtr world = physics::get_world("default");
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ASSERT_TRUE(world != NULL);
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gazebo::physics::ModelPtr model = world->GetModel("simple_arm");
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gazebo::physics::JointControllerPtr jointController =
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model->GetJointController();
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world->Step(100);
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gazebo::transport::PublisherPtr pub =
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this->node->Advertise<gazebo::msgs::JointCmd>(
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"/gazebo/default/simple_arm/joint_cmd");
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msgs::JointCmd msg;
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msg.set_name("simple_arm::arm_shoulder_pan_joint");
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msg.mutable_velocity()->set_target(0.2);
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msg.mutable_velocity()->set_p_gain(10.0);
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msg.mutable_velocity()->set_i_gain(0.1);
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msg.mutable_velocity()->set_d_gain(0.1);
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pub->Publish(msg);
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world->Step(5000);
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double vel = model->GetJoint("arm_shoulder_pan_joint")->GetVelocity(0);
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EXPECT_NEAR(vel, 0.2, 0.05);
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}
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/////////////////////////////////////////////////
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/// Main
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int main(int argc, char **argv)
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{
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::testing::InitGoogleTest(&argc, argv);
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return RUN_ALL_TESTS();
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}
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