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error_block_tests.cpp
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error_block_tests.cpp
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/*
* Copyright (C) 2015 Fetch Robotics Inc.
*
* 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 <urdf/model.h>
#include <robot_calibration/ceres/optimizer.h>
#include <gtest/gtest.h>
std::string robot_description =
"<?xml version='1.0' ?>"
"<robot name='maxwell'>"
" <link name='base_link'/>"
" <joint name='torso_joint' type='fixed'>"
" <origin rpy='0 0 0' xyz='-0.00635 0 0.7914'/>"
" <parent link='base_link'/>"
" <child link='torso_link'/>"
" </joint>"
" <link name='torso_link'/>"
" <joint name='torso_actuator_joint' type='fixed'>"
" <origin rpy='0 0 0' xyz='0 0 0'/>"
" <parent link='torso_link'/>"
" <child link='torso_actuator_link'/>"
" </joint>"
" <link name='torso_actuator_link'/>"
" <joint name='arm_lift_joint' type='prismatic'>"
" <axis xyz='0 0 1'/>"
" <limit effort='30' lower='-0.464' upper='0' velocity='0.0508'/>"
" <origin rpy='0 0 0' xyz='0 0 0'/>"
" <parent link='torso_link'/>"
" <child link='arm_lift_link'/>"
" </joint>"
" <link name='arm_lift_link'/>"
" <joint name='arm_base_joint' type='fixed'>"
" <origin rpy='0 0 0' xyz='0.0611 0 0'/>"
" <parent link='arm_lift_link'/>"
" <child link='arm_link'/>"
" </joint>"
" <link name='arm_link'/>"
" <joint name='arm_shoulder_pan_servo_joint' type='fixed'>"
" <origin rpy='0 0 0' xyz='0 0 0'/>"
" <parent link='arm_link'/>"
" <child link='arm_shoulder_pan_servo_link'/>"
" </joint>"
" <link name='arm_shoulder_pan_servo_link'/>"
" <joint name='arm_shoulder_pan_joint' type='revolute'>"
" <origin rpy='0 0 0' xyz='0 0 0.0235'/>"
" <axis xyz='0 0 1'/>"
" <limit effort='30' lower='-1.57' upper='1.57' velocity='0.524'/>"
" <parent link='arm_shoulder_pan_servo_link'/>"
" <child link='arm_shoulder_pan_link'/>"
" </joint>"
" <link name='arm_shoulder_pan_link'/>"
" <joint name='arm_shoulder_lift_servo_joint' type='fixed'>"
" <origin rpy='0 -1.57 0' xyz='0 0 0.0526'/>"
" <parent link='arm_shoulder_pan_link'/>"
" <child link='arm_shoulder_lift_servo_link'/>"
" </joint>"
" <link name='arm_shoulder_lift_servo_link'/>"
" <joint name='arm_shoulder_lift_joint' type='revolute'>"
" <origin rpy='0 1.57 0' xyz='0 0 0'/>"
" <axis xyz='0 1 0'/>"
" <limit effort='30' lower='-1.77' upper='1.317' velocity='0.524'/>"
" <parent link='arm_shoulder_lift_servo_link'/>"
" <child link='arm_shoulder_lift_link'/>"
" </joint>"
" <link name='arm_shoulder_lift_link'/>"
" <joint name='arm_upperarm_roll_servo_joint' type='fixed'>"
" <origin rpy='1.57 1.57 0' xyz='0.0712978 0 0'/>"
" <parent link='arm_shoulder_lift_link'/>"
" <child link='arm_upperarm_roll_servo_link'/>"
" </joint>"
" <link name='arm_upperarm_roll_servo_link'/>"
" <joint name='arm_upperarm_roll_joint' type='revolute'>"
" <origin rpy='-1.57 0 1.57' xyz='0 0 0'/>"
" <axis xyz='1 0 0'/>"
" <limit effort='30' lower='-2' upper='2' velocity='0.524'/>"
" <parent link='arm_upperarm_roll_servo_link'/>"
" <child link='arm_upperarm_roll_link'/>"
" </joint>"
" <link name='arm_upperarm_roll_link'/>"
" <joint name='arm_elbow_flex_joint' type='revolute'>"
" <origin rpy='0 0 0' xyz='0.0869955 0 0'/>"
" <axis xyz='0 1 0'/>"
" <limit effort='30' lower='-1.57' upper='2.617' velocity='0.524'/>"
" <parent link='arm_upperarm_roll_link'/>"
" <child link='arm_elbow_flex_link'/>"
" </joint>"
" <link name='arm_elbow_flex_link'/>"
" <joint name='arm_forearm_fixed_joint' type='fixed'>"
" <origin rpy='0 0 0' xyz='0 0 0'/>"
" <parent link='arm_elbow_flex_link'/>"
" <child link='arm_forearm_link'/>"
" </joint>"
" <link name='arm_forearm_link'/>"
" <joint name='arm_wrist_flex_servo_joint' type='fixed'>"
" <origin rpy='0 0 0' xyz='0.125 0 0'/>"
" <parent link='arm_forearm_link'/>"
" <child link='arm_wrist_flex_servo_link'/>"
" </joint>"
" <link name='arm_wrist_flex_servo_link'/>"
" <joint name='arm_wrist_flex_joint' type='revolute'>"
" <origin rpy='0 0 0' xyz='0 0 0.0'/>"
" <axis xyz='0 1 0'/>"
" <limit effort='30' lower='-1.57' upper='1.57' velocity='0.785'/>"
" <parent link='arm_wrist_flex_servo_link'/>"
" <child link='arm_wrist_flex_link'/>"
" </joint>"
" <link name='arm_wrist_flex_link'/>"
" <joint name='arm_wrist_roll_joint' type='revolute'>"
" <axis xyz='1 0 0'/>"
" <limit effort='30' lower='-2.617' upper='2.617' velocity='0.785'/>"
" <origin rpy='0 0 0' xyz='0.031 0 0'/>"
" <parent link='arm_wrist_flex_link'/>"
" <child link='arm_wrist_roll_link'/>"
" </joint>"
" <link name='arm_wrist_roll_link'/>"
" <joint name='gripper_joint' type='fixed'>"
" <axis xyz='0 0 1'/>"
" <origin rpy='0 0 0' xyz='0.15 0 -0.015'/>"
" <parent link='arm_wrist_roll_link'/>"
" <child link='gripper_led_frame'/>"
" </joint>"
" <link name='gripper_led_frame'/>"
" <joint name='head_joint' type='fixed'>"
" <origin rpy='0 0 0' xyz='0 0 0.512375'/>"
" <parent link='torso_link'/>"
" <child link='head_link'/>"
" </joint>"
" <link name='head_link'/>"
" <joint name='head_pan_servo_joint' type='fixed'>"
" <origin rpy='0 0 0' xyz='0.010 0 0.0254'/>"
" <parent link='head_link'/>"
" <child link='head_pan_servo_link'/>"
" </joint>"
" <link name='head_pan_servo_link'/>"
" <joint name='head_pan_joint' type='revolute'>"
" <origin rpy='0 0 0' xyz='0 0 0.019'/>"
" <axis xyz='0 0 1'/>"
" <limit effort='30' lower='-2.617' upper='2.617' velocity='1.0'/>"
" <parent link='head_pan_servo_link'/>"
" <child link='head_pan_link'/>"
" </joint>"
" <link name='head_pan_link'/>"
" <joint name='head_tilt_servo_joint' type='fixed'>"
" <origin rpy='0 0 0' xyz='0 0 0.0415'/>"
" <parent link='head_pan_link'/>"
" <child link='head_tilt_servo_link'/>"
" </joint>"
" <link name='head_tilt_servo_link'/>"
" <joint name='head_tilt_joint' type='revolute'>"
" <origin rpy='0 0 0' xyz='0 0 0'/>"
" <axis xyz='0 1 0'/>"
" <limit effort='30' lower='-1.57' upper='1.57' velocity='1.0'/>"
" <parent link='head_tilt_servo_link'/>"
" <child link='head_tilt_link'/>"
" </joint>"
" <link name='head_tilt_link'/>"
" <joint name='head_camera_frame_joint' type='fixed'>"
" <origin rpy='0 0 0' xyz='0 0 0.026'/>"
" <parent link='head_tilt_link'/>"
" <child link='head_camera_frame'/>"
" </joint>"
" <link name='head_camera_frame'/>"
" <joint name='head_camera_ir_joint' type='fixed'>"
" <origin rpy='0 0 0' xyz='0.01905 -0.0269875 0.032075'/>"
" <parent link='head_camera_frame'/>"
" <child link='head_camera_ir_link'/>"
" </joint>"
" <link name='head_camera_ir_link'/>"
" <joint name='head_camera_ir_optical_frame_joint' type='fixed'>"
" <origin rpy='-1.57 0.0 -1.57' xyz='0 0 0'/>"
" <parent link='head_camera_ir_link'/>"
" <child link='head_camera_ir_optical_frame'/>"
" </joint>"
" <link name='head_camera_ir_optical_frame'/>"
" <joint name='head_camera_rgb_joint' type='fixed'>"
" <origin rpy='0 -0.08 0' xyz='0 0.0552875 0'/>"
" <parent link='head_camera_ir_link'/>"
" <child link='head_camera_rgb_link'/>"
" </joint>"
" <link name='head_camera_rgb_link'/>"
" <joint name='head_camera_rgb_optical_frame_joint' type='fixed'>"
" <origin rpy='-1.57 0.0 -1.57' xyz='0 0 0'/>"
" <parent link='head_camera_rgb_link'/>"
" <child link='head_camera_rgb_optical_frame'/>"
" </joint>"
" <link name='head_camera_rgb_optical_frame'/>"
"</robot>";
TEST(ErrorBlockTests, error_blocks_maxwell)
{
ros::NodeHandle nh("~");
robot_calibration::Optimizer opt(robot_description);
std::vector<robot_calibration_msgs::CalibrationData> data;
robot_calibration_msgs::CalibrationData msg;
// Match expected output from chain manager
msg.joint_states.name.resize(10);
msg.joint_states.name[0] = "arm_lift_flex_joint";
msg.joint_states.name[1] = "arm_shoulder_pan_joint";
msg.joint_states.name[2] = "arm_shoulder_lift_joint";
msg.joint_states.name[3] = "arm_upperarm_roll_joint";
msg.joint_states.name[4] = "arm_elbow_flex_joint";
msg.joint_states.name[5] = "arm_wrist_flex_joint";
msg.joint_states.name[6] = "arm_wrist_roll_joint";
msg.joint_states.name[7] = "head_pan_joint";
msg.joint_states.name[8] = "head_tilt_joint";
msg.joint_states.name[9] = "arm_lift_joint";
msg.joint_states.position.resize(10);
msg.joint_states.position[0] = 0.0;
msg.joint_states.position[1] = -0.814830;
msg.joint_states.position[2] = -0.00022290000000002586;
msg.joint_states.position[3] = 0.0;
msg.joint_states.position[4] = -0.7087341;
msg.joint_states.position[5] = 0.0;
msg.joint_states.position[6] = 0.0;
msg.joint_states.position[7] = -0.8280187999999999;
msg.joint_states.position[8] = 0.6358500000000002;
msg.joint_states.position[9] = 0.0;
// Expectect output from led finder
msg.observations.resize(2);
msg.observations[0].sensor_name = "camera";
msg.observations[1].sensor_name = "arm";
msg.observations[0].features.resize(1);
msg.observations[0].features[0].header.frame_id = "head_camera_rgb_optical_frame";
msg.observations[0].features[0].point.x = -0.0143163670728;
msg.observations[0].features[0].point.y = 0.111304592065;
msg.observations[0].features[0].point.z = 0.522079317365;
msg.observations[0].ext_camera_info.camera_info.P[0] = 100.0; // fx
msg.observations[0].ext_camera_info.camera_info.P[5] = 100.0; // fy
msg.observations[0].ext_camera_info.camera_info.P[2] = 320.0; // cx
msg.observations[0].ext_camera_info.camera_info.P[6] = 240.0; // cy
msg.observations[0].ext_camera_info.parameters.resize(2);
msg.observations[0].ext_camera_info.parameters[0].name = "z_offset";
msg.observations[0].ext_camera_info.parameters[0].value = 0.0;
msg.observations[0].ext_camera_info.parameters[1].name = "z_scaling";
msg.observations[0].ext_camera_info.parameters[1].value = 1.0;
msg.observations[1].features.resize(1);
msg.observations[1].features[0].header.frame_id = "gripper_led_frame";
msg.observations[1].features[0].point.x = 0.0;
msg.observations[1].features[0].point.y = 0.0;
msg.observations[1].features[0].point.z = 0.0;
// Add first data point
data.push_back(msg);
// Add a second data point that is just a little different
msg.joint_states.position[1] = -0.019781999999999966;
msg.joint_states.position[7] = 0.0;
msg.observations[0].features[0].point.x = 0.0365330705881;
msg.observations[0].features[0].point.y = 0.102609552493;
msg.observations[0].features[0].point.z = 0.536061220027;
data.push_back(msg);
// And a third data point
msg.joint_states.position[1] = 0.883596;
msg.joint_states.position[7] = 0.9442135999999999;
msg.observations[0].features[0].point.x = 0.0942445346646;
msg.observations[0].features[0].point.y = 0.11409172323;
msg.observations[0].features[0].point.z = 0.517497963716;
data.push_back(msg);
// Setup params
robot_calibration::OptimizationParams params;
params.LoadFromROS(nh);
// Optimize
opt.optimize(params, data, false);
EXPECT_LT(opt.summary()->initial_cost, 1e-24); // Actual is about 1.67796e-25
EXPECT_LT(opt.summary()->final_cost, 1e-26); // Actual is about 1.43174e-27
EXPECT_LT(opt.summary()->final_cost, opt.summary()->initial_cost);
EXPECT_GT(opt.summary()->iterations.size(), 10); // expect more than 10 iterations
// 14 joints + 6 from a free frame
EXPECT_EQ(20, opt.getNumParameters());
// 3 CalibrationData, each with outrageous block (7 residuals)
// and chain3d with a single observed point (3 residuals)
EXPECT_EQ(30, opt.getNumResiduals());
// While things are setup, test our param helpers
// This param does not exist, we should get the default
double test = params.getParam(params.error_blocks[1], "test", 10.0);
EXPECT_EQ(10, test);
// This does exist, we should get what is in our YAML file
double scale = params.getParam(params.error_blocks[1], "joint_scale", 10.0);
EXPECT_EQ(0.0, scale);
}
int main(int argc, char** argv)
{
ros::init(argc, argv, "error_block_tests");
testing::InitGoogleTest(&argc, argv);
return RUN_ALL_TESTS();
}