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[ros2] Fix test for diff drive #951

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chapulina merged 1 commit into from
Jul 9, 2019
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[ros2] Fix test for diff drive #951

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17 changes: 14 additions & 3 deletions gazebo_plugins/test/test_gazebo_ros_diff_drive.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -89,9 +89,17 @@ TEST_P(GazeboRosDiffDriveTest, Publishing)
// Wait for it to be processed
int sleep{0};
int maxSleep{300};
for (; sleep < maxSleep && (vehicle->WorldLinearVel().X() < 0.9 ||

auto yaw = static_cast<float>(vehicle->WorldPose().Rot().Yaw());
auto linear_vel = vehicle->WorldLinearVel();
double linear_vel_x = cosf(yaw) * linear_vel.X() + sinf(yaw) * linear_vel.Y();

for (; sleep < maxSleep && (linear_vel_x < 0.9 ||
vehicle->WorldAngularVel().Z() < 0.09); ++sleep)
{
yaw = static_cast<float>(vehicle->WorldPose().Rot().Yaw());
linear_vel = vehicle->WorldLinearVel();
linear_vel_x = cosf(yaw) * linear_vel.X() + sinf(yaw) * linear_vel.Y();
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world->Step(100);
executor.spin_once(100ms);
gazebo::common::Time::MSleep(100);
Expand All @@ -105,9 +113,12 @@ TEST_P(GazeboRosDiffDriveTest, Publishing)
EXPECT_LT(0.0, latestMsg->pose.pose.orientation.z);

// Check movement
yaw = static_cast<float>(vehicle->WorldPose().Rot().Yaw());
linear_vel = vehicle->WorldLinearVel();
linear_vel_x = cosf(yaw) * linear_vel.X() + sinf(yaw) * linear_vel.Y();
EXPECT_LT(0.0, vehicle->WorldPose().Pos().X());
EXPECT_LT(0.0, vehicle->WorldPose().Rot().Yaw());
EXPECT_NEAR(1.0, vehicle->WorldLinearVel().X(), tol);
EXPECT_LT(0.0, yaw);
EXPECT_NEAR(1.0, linear_vel_x, tol);
EXPECT_NEAR(0.1, vehicle->WorldAngularVel().Z(), tol);
}

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