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test_base_controllers.py
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test_base_controllers.py
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# Copyright (c) Facebook, Inc. and its affiliates.
# This source code is licensed under the MIT license found in the
# LICENSE file in the root directory of this source tree.
import os
import pytest
import time
import numpy as np
from pyrobot import Robot
from pyrobot.locobot.base_control_utils import \
get_trajectory_circle, get_trajectory_negcircle, _get_absolute_pose
from pyrobot.locobot.bicycle_model import wrap_theta
# Launch for running the following tests:
# roslaunch locobot_control main.launch use_arm:=false use_base:=true base:=create use_rviz:=false use_sim:=true
@pytest.fixture
def botname(request):
return request.config.getoption('botname')
def _mkdir_if_missing(dir_name):
if not os.path.exists(dir_name):
os.makedirs(dir_name)
def _get_time_str():
return time.strftime("%Y-%m-%d-%H-%M-%S", time.localtime())
@pytest.mark.parametrize("base_controller", ['ilqr'])
@pytest.mark.parametrize("base_planner", ['none'])
@pytest.mark.parametrize("close_loop", [True, False])
def test_trajectory_tracking_circle(botname, base_controller, base_planner, close_loop):
bot = Robot(botname, base_config={'base_controller': base_controller,
'base_planner': base_planner},
use_arm=False, use_camera=False)
dt = 1. / bot.configs.BASE.BASE_CONTROL_RATE
v = bot.configs.BASE.MAX_ABS_FWD_SPEED / 2.
w = bot.configs.BASE.MAX_ABS_TURN_SPEED / 2.
r = v / w
start_state = np.array(bot.base.get_state('odom'))
states, _ = get_trajectory_circle(start_state, dt, r, v, np.pi)
bot.base.track_trajectory(states, close_loop=close_loop)
end_state = np.array(bot.base.get_state('odom'))
dist = np.linalg.norm(states[-1, :2] - end_state[:2])
assert dist < 0.1
@pytest.mark.parametrize("base_controller", ['ilqr'])
@pytest.mark.parametrize("base_planner", ['none'])
@pytest.mark.parametrize("close_loop", [True, False])
def test_trajectory_tracking_two_circles(botname, base_controller, base_planner, close_loop):
bot = Robot(botname, base_config={'base_controller': base_controller,
'base_planner': base_planner},
use_arm=False, use_camera=False)
dt = 1. / bot.configs.BASE.BASE_CONTROL_RATE
v = bot.configs.BASE.MAX_ABS_FWD_SPEED / 2.
w = bot.configs.BASE.MAX_ABS_TURN_SPEED / 2.
r = v / w
start_state = np.array(bot.base.get_state('odom'))
states1, _ = get_trajectory_circle(start_state, dt, r, v, np.pi)
states2, _ = get_trajectory_negcircle(states1[-1, :] * 1, dt, r, v, np.pi)
states = np.concatenate([states1, states2], 0)
bot.base.track_trajectory(states, close_loop=close_loop)
end_state = np.array(bot.base.get_state('odom'))
dist = np.linalg.norm(states[-1, :2] - end_state[:2])
assert dist < 0.1
def _test_relative_position_control(posn, botname, base_controller,
base_planner, close_loop, smooth,
trans_thresh, angular_thresh):
bot = Robot(botname, base_config={'base_controller': base_controller,
'base_planner': base_planner},
use_arm=False, use_camera=False)
start_state = np.array(bot.base.get_state('odom'))
desired_target = _get_absolute_pose(posn, start_state)
bot.base.go_to_relative(posn, use_map=False, close_loop=close_loop, smooth=smooth)
end_state = np.array(bot.base.get_state('odom'))
if False:
# Plot results to file
file_name = '{:s}_position_{:s}_controller_{:s}_planner_{:s}_close{:d}_smooth{:d}-{:s}.pdf'
posn_str = ['{:0.1f}'.format(x) for x in posn]
file_name = file_name.format(botname, ','.join(posn_str),
base_controller, base_planner, int(close_loop), int(smooth),
_get_time_str())
tmp_dir = os.path.join(os.path.dirname(__file__), 'tmp')
_mkdir_if_missing(tmp_dir)
file_name = os.path.join(tmp_dir, file_name)
bot.base.controller.plot_plan_execution(file_name)
dist = np.linalg.norm(end_state[:2] - desired_target[:2])
angle = end_state[2] - desired_target[2]
angle = np.abs(wrap_theta(angle))
assert dist < trans_thresh
assert angle * 180. / np.pi < angular_thresh
posns = np.array([[1., 0., 0.], [0., 0., np.pi], [1., 1., np.pi / 2.],
[1., 1., 0.], [-1., 0., 0.]], dtype=np.float32)
@pytest.mark.parametrize("base_controller", ['proportional'])
@pytest.mark.parametrize("base_planner", ['none'])
@pytest.mark.parametrize("close_loop", [True])
@pytest.mark.parametrize("smooth", [False])
@pytest.mark.parametrize("posn", posns)
def test_relative_position_control1(botname, posn, base_controller, base_planner, close_loop, smooth):
_test_relative_position_control(posn, botname, base_controller,
base_planner, close_loop, smooth, 0.05, 10)
@pytest.mark.parametrize("base_controller", ['movebase'])
@pytest.mark.parametrize("base_planner", ['none'])
@pytest.mark.parametrize("close_loop", [True])
@pytest.mark.parametrize("smooth", [False])
@pytest.mark.parametrize("posn", posns)
def test_relative_position_control1_movebase(botname, posn, base_controller, base_planner, close_loop, smooth):
_test_relative_position_control(posn, botname, base_controller,
base_planner, close_loop, smooth, 0.25, 20)
@pytest.mark.parametrize("base_controller", ['ilqr'])
@pytest.mark.parametrize("base_planner", ['none'])
@pytest.mark.parametrize("posn", posns)
def test_relative_position_control2_close_smooth(botname, posn, base_controller, base_planner):
_test_relative_position_control(posn, botname, base_controller,
base_planner, True, True, 0.05, 10)
@pytest.mark.parametrize("base_controller", ['ilqr'])
@pytest.mark.parametrize("base_planner", ['none'])
@pytest.mark.parametrize("posn", posns)
def test_relative_position_control2_open_smooth(botname, posn, base_controller, base_planner):
_test_relative_position_control(posn, botname, base_controller,
base_planner, False, True, 0.10, 20)
@pytest.mark.parametrize("base_controller", ['ilqr'])
@pytest.mark.parametrize("base_planner", ['none'])
@pytest.mark.parametrize("posn", posns)
def test_relative_position_control2_close_sharp(botname, posn, base_controller, base_planner):
_test_relative_position_control(posn, botname, base_controller,
base_planner, True, False, 0.05, 10)
@pytest.mark.parametrize("base_controller", ['ilqr'])
@pytest.mark.parametrize("base_planner", ['none'])
@pytest.mark.parametrize("posn", posns)
def test_relative_position_control2_open_sharp(botname, posn, base_controller, base_planner):
_test_relative_position_control(posn, botname, base_controller,
base_planner, False, False, 0.10, 20)
@pytest.mark.parametrize("base_controller", ['proportional', 'ilqr'])
@pytest.mark.parametrize("base_planner", ['movebase'])
@pytest.mark.parametrize("close_loop", [True])
@pytest.mark.parametrize("smooth", [False])
@pytest.mark.parametrize("posn", posns[:1, :])
def test_relative_position_control3(botname, posn, base_controller, base_planner, close_loop, smooth):
_test_relative_position_control(posn, botname, base_controller,
base_planner, close_loop, smooth, 0.05, 10)
@pytest.mark.parametrize("base_controller", ['movebase'])
@pytest.mark.parametrize("base_planner", ['movebase'])
@pytest.mark.parametrize("close_loop", [True])
@pytest.mark.parametrize("smooth", [False])
@pytest.mark.parametrize("posn", posns[:1, :])
def test_relative_position_control3_movebase(botname, posn, base_controller, base_planner, close_loop, smooth):
_test_relative_position_control(posn, botname, base_controller,
base_planner, close_loop, smooth, 0.25, 20)