#!/usr/bin/env python
#
# Copyright (c) 2019 Intel Corporation
#
# This work is licensed under the terms of the MIT license.
# For a copy, see <https://opensource.org/licenses/MIT>.
#
"""
Class for testing nodes
"""
import unittest
import rospy
import rostest
from std_msgs.msg import Header
from rosgraph_msgs.msg import Clock
from sensor_msgs.msg import CameraInfo, NavSatFix, Image, PointCloud2, Imu
from geometry_msgs.msg import Quaternion, Vector3, Pose
from nav_msgs.msg import Odometry
from derived_object_msgs.msg import ObjectArray
from visualization_msgs.msg import Marker
from carla_msgs.msg import (CarlaEgoVehicleStatus, CarlaEgoVehicleInfo, CarlaWorldInfo,
CarlaActorList, CarlaTrafficLightStatusList,
CarlaTrafficLightInfoList, CarlaRadarMeasurement)
PKG = 'test_roslaunch'
TIMEOUT = 20
class TestClock(unittest.TestCase):
"""
Handles testing of the all nodes
"""
def test_clock(self):
"""
Tests clock
"""
rospy.init_node('test_node', anonymous=True)
clock_msg = rospy.wait_for_message("/clock", Clock, timeout=TIMEOUT)
self.assertNotEqual(Clock(), clock_msg)
def test_vehicle_status(self):
"""
Tests vehicle_status
"""
rospy.init_node('test_node', anonymous=True)
msg = rospy.wait_for_message(
"/carla/ego_vehicle/vehicle_status", CarlaEgoVehicleStatus, timeout=TIMEOUT)
self.assertNotEqual(msg.header, Header()) # todo: check frame-id
self.assertNotEqual(msg.orientation, Quaternion())
def test_vehicle_info(self):
"""
Tests vehicle_info
"""
rospy.init_node('test_node', anonymous=True)
msg = rospy.wait_for_message(
"/carla/ego_vehicle/vehicle_info", CarlaEgoVehicleInfo, timeout=TIMEOUT)
self.assertNotEqual(msg.id, 0)
self.assertEqual(msg.type, "vehicle.tesla.model3")
self.assertEqual(msg.rolename, "ego_vehicle")
self.assertEqual(len(msg.wheels), 4)
self.assertNotEqual(msg.max_rpm, 0.0)
self.assertNotEqual(msg.moi, 0.0)
self.assertNotEqual(msg.damping_rate_full_throttle, 0.0)
self.assertNotEqual(msg.damping_rate_zero_throttle_clutch_engaged, 0.0)
self.assertNotEqual(
msg.damping_rate_zero_throttle_clutch_disengaged, 0.0)
self.assertTrue(msg.use_gear_autobox)
self.assertNotEqual(msg.gear_switch_time, 0.0)
self.assertNotEqual(msg.mass, 0.0)
self.assertNotEqual(msg.clutch_strength, 0.0)
self.assertNotEqual(msg.drag_coefficient, 0.0)
self.assertNotEqual(msg.center_of_mass, Vector3())
def test_odometry(self):
"""
Tests Odometry
"""
rospy.init_node('test_node', anonymous=True)
msg = rospy.wait_for_message(
"/carla/ego_vehicle/odometry", Odometry, timeout=TIMEOUT)
self.assertEqual(msg.header.frame_id, "map")
self.assertEqual(msg.child_frame_id, "ego_vehicle")
self.assertNotEqual(msg.pose, Pose())
def test_gnss(self):
"""
Tests Gnss
"""
rospy.init_node('test_node', anonymous=True)
msg = rospy.wait_for_message(
"/carla/ego_vehicle/gnss/gnss1/fix", NavSatFix, timeout=TIMEOUT)
self.assertEqual(msg.header.frame_id, "ego_vehicle/gnss/gnss1")
self.assertNotEqual(msg.latitude, 0.0)
self.assertNotEqual(msg.longitude, 0.0)
self.assertNotEqual(msg.altitude, 0.0)
def test_imu(self):
"""
Tests IMU sensor node
"""
rospy.init_node('test_node', anonymous=True)
print("testing for ros bridge")
msg = rospy.wait_for_message("/carla/ego_vehicle/imu", Imu, timeout=15)
self.assertEqual(msg.header.frame_id, "ego_vehicle/imu")
self.assertNotEqual(msg.linear_acceleration, 0.0)
self.assertNotEqual(msg.angular_velocity, 0.0)
self.assertNotEqual(msg.orientation, 0.0)
def test_camera_info(self):
"""
Tests camera_info
"""
rospy.init_node('test_node', anonymous=True)
msg = rospy.wait_for_message(
"/carla/ego_vehicle/camera/rgb/front/camera_info", CameraInfo, timeout=TIMEOUT)
self.assertEqual(msg.header.frame_id, "ego_vehicle/camera/rgb/front")
self.assertEqual(msg.height, 600)
self.assertEqual(msg.width, 800)
def test_camera_image(self):
"""
Tests camera_images
"""
rospy.init_node('test_node', anonymous=True)
msg = rospy.wait_for_message(
"/carla/ego_vehicle/camera/rgb/front/image_color", Image, timeout=TIMEOUT)
self.assertEqual(msg.header.frame_id, "ego_vehicle/camera/rgb/front")
self.assertEqual(msg.height, 600)
self.assertEqual(msg.width, 800)
self.assertEqual(msg.encoding, "bgra8")
def test_lidar(self):
"""
Tests Lidar sensor node
"""
rospy.init_node('test_node', anonymous=True)
msg = rospy.wait_for_message(
"/carla/ego_vehicle/lidar/lidar1/point_cloud", PointCloud2, timeout=TIMEOUT)
self.assertEqual(msg.header.frame_id, "ego_vehicle/lidar/lidar1")
def test_radar(self):
"""
Tests Radar sensor node
"""
rospy.init_node('test_node', anonymous=True)
msg = rospy.wait_for_message(
"/carla/ego_vehicle/radar/front/radar", CarlaRadarMeasurement, timeout=TIMEOUT)
self.assertEqual(msg.header.frame_id, "ego_vehicle/radar/front")
def test_ego_vehicle_objects(self):
"""
Tests objects node for ego_vehicle
"""
rospy.init_node('test_node', anonymous=True)
msg = rospy.wait_for_message(
"/carla/ego_vehicle/objects", ObjectArray, timeout=15)
self.assertEqual(msg.header.frame_id, "map")
self.assertEqual(len(msg.objects), 0)
def test_objects(self):
"""
Tests carla objects
"""
rospy.init_node('test_node', anonymous=True)
msg = rospy.wait_for_message("/carla/objects", ObjectArray, timeout=TIMEOUT)
self.assertEqual(msg.header.frame_id, "map")
self.assertEqual(len(msg.objects), 1) # only ego vehicle exists
def test_marker(self):
"""
Tests marker
"""
rospy.init_node('test_node', anonymous=True)
msg = rospy.wait_for_message("/carla/marker", Marker, timeout=TIMEOUT)
self.assertEqual(msg.header.frame_id, "ego_vehicle")
self.assertNotEqual(msg.id, 0)
self.assertEqual(msg.type, 1)
self.assertNotEqual(msg.pose, Pose())
self.assertNotEqual(msg.scale, Vector3())
self.assertEqual(msg.color.r, 0.0)
self.assertEqual(msg.color.g, 255.0)
self.assertEqual(msg.color.b, 0.0)
def test_world_info(self):
"""
Tests world_info
"""
rospy.init_node('test_node', anonymous=True)
msg = rospy.wait_for_message(
"/carla/world_info", CarlaWorldInfo, timeout=TIMEOUT)
self.assertNotEqual(len(msg.map_name), 0)
self.assertNotEqual(len(msg.opendrive), 0)
def test_actor_list(self):
"""
Tests actor_list
"""
rospy.init_node('test_node', anonymous=True)
msg = rospy.wait_for_message(
"/carla/actor_list", CarlaActorList, timeout=TIMEOUT)
self.assertNotEqual(len(msg.actors), 0)
def test_traffic_lights(self):
"""
Tests traffic_lights
"""
rospy.init_node('test_node', anonymous=True)
msg = rospy.wait_for_message(
"/carla/traffic_lights", CarlaTrafficLightStatusList, timeout=TIMEOUT)
self.assertNotEqual(len(msg.traffic_lights), 0)
def test_traffic_lights_info(self):
"""
Tests traffic_lights
"""
rospy.init_node('test_node', anonymous=True)
msg = rospy.wait_for_message(
"/carla/traffic_lights_info", CarlaTrafficLightInfoList, timeout=TIMEOUT)
self.assertNotEqual(len(msg.traffic_lights), 0)
if __name__ == '__main__':
rostest.rosrun(PKG, 'tests', TestClock)
