balance_controller_test.cpp

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/// \author Mike Moore

#include "test_common.h"

// TEST CASES
TEST_F(BalanceSimControllerTest, testBalance)
{
  // wait for 3s. Is it holding balance?
  ros::Duration(3.0).sleep();
  bobble_controllers::BobbleBotStatus status = getLastStatus();
  EXPECT_LT(fabs(status.Tilt), 5.0); // we should be standing
}

TEST_F(BalanceSimControllerTest, testForward)
{
  // send a forward velocity command of 0.1 m/s
  geometry_msgs::Twist cmd_vel;
  cmd_vel.linear.x = 0.1;
  publish_vel_cmd(cmd_vel);
  // wait for 8s
  ros::Duration(8.0).sleep();
  bobble_controllers::BobbleBotStatus status = getLastStatus();
  const double expected_velocity = 0.1;
  EXPECT_NEAR(status.ForwardVelocity, expected_velocity, VELOCITY_TOLERANCE);
}

TEST_F(BalanceSimControllerTest, testBackward)
{
  // send a forward velocity command of -0.1 m/s
  geometry_msgs::Twist cmd_vel;
  cmd_vel.linear.x = -0.1;
  publish_vel_cmd(cmd_vel);
  // wait for 8s
  ros::Duration(8.0).sleep();
  bobble_controllers::BobbleBotStatus status = getLastStatus();
  const double expected_velocity = -0.1;
  EXPECT_NEAR(status.ForwardVelocity, expected_velocity, VELOCITY_TOLERANCE);
}

TEST_F(BalanceSimControllerTest, testTurnLeft)
{
  // send a turn rate command of 0.1 rad/s
  geometry_msgs::Twist cmd_vel;
  cmd_vel.angular.z = 0.125;
  publish_vel_cmd(cmd_vel);
  // wait for 3s
  ros::Duration(3.0).sleep();
  bobble_controllers::BobbleBotStatus status = getLastStatus();
  const double expected_turn_rate = 25.0;
  EXPECT_GT(status.TurnRate, expected_turn_rate); // should be turning at least 25 deg/s
}

TEST_F(BalanceSimControllerTest, testTurnRight)
{
  // send a turn rate command of -0.1 rad/s
  geometry_msgs::Twist cmd_vel;
  cmd_vel.angular.z = -0.125;
  publish_vel_cmd(cmd_vel);
  // wait for 3s
  ros::Duration(3.0).sleep();
  bobble_controllers::BobbleBotStatus status = getLastStatus();
  const double expected_turn_rate = -25.0;
  EXPECT_LT(status.TurnRate, expected_turn_rate); // should be turning at least -25 deg/s
}


int main(int argc, char** argv)
{
  testing::InitGoogleTest(&argc, argv);
  ros::init(argc, argv, "balance_controller_test");

  ros::AsyncSpinner spinner(1);
  spinner.start();
  int ret = RUN_ALL_TESTS();
  spinner.stop();
  ros::shutdown();
  return ret;
}