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On our way to Simulation Tests #212

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0892461
Clean up how we manage test only deps.
joshuamorton Aug 19, 2017
37a326d
This is a hack to silence this error because we don't really care.
joshuamorton Aug 19, 2017
9cb2abe
New way of running the simulation test.
joshuamorton Aug 19, 2017
dada397
Update ci_scrips to use python-local binaries.
joshuamorton Oct 29, 2017
f3d294e
Housecleaning on the gazebo connection.
joshuamorton Oct 30, 2017
78f2826
Clean up how we manage test only deps.
joshuamorton Aug 19, 2017
084d878
This is a hack to silence this error because we don't really care.
joshuamorton Aug 19, 2017
f73fc78
Undoing rebase.
joshuamorton Oct 30, 2017
04ecd0b
Fix style issue (constant name).
joshuamorton Oct 30, 2017
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30 changes: 30 additions & 0 deletions buzzmobile/launch/simulation_test.launch
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Original file line number Diff line number Diff line change
@@ -0,0 +1,30 @@
<launch>
<arg name="mission_control" default="false"/>
<arg name="gzclient" default="false" />
<arg name="world" default="$(find buzzmobile)/simulation/models/world/straight_road.world"/>

<group ns="buzzmobile">
<include file="$(find buzzmobile)/launch/includes/params.launch"/>
<include file="$(find buzzmobile)/launch/includes/gps.launch"/>
<!-- <include file="$(find buzzmobile)/launch/includes/mapping.launch"/> -->
<include file="$(find buzzmobile)/launch/includes/steering.launch"/>
<include file="$(find buzzmobile)/launch/includes/lidar.launch"/>
<include file="$(find buzzmobile)/launch/includes/controller.launch"/>
<group if="$(arg mission_control)">
<include file="$(find buzzmobile)/launch/includes/visualization.launch"/>
</group>
<include file="$(find buzzmobile)/launch/includes/sim_interface.launch"/>
</group>

<!-- Start gazebo server, load world, optionally start viz client -->
<node pkg="gazebo_ros" name="gazebo" type="gzserver"

@chsahit chsahit Nov 15, 2017

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I'm getting a bunch of warnings on running this saying "deprecated syntax". can you replicate?

@joshuamorton joshuamorton Nov 15, 2017

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I don't see those, no.

@chsahit chsahit Nov 15, 2017

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Oh wait I'm testing these on kinetic, pushing a reminder to myself to test it on indigo in my VM tomorrow.

args="-e ode $(arg world) use_sim_time:=true"
output="screen"/>
<group if="$(arg gzclient)">
<node pkg="gazebo_ros" name="gazebo_gui" type="gzclient"/>
</group>

<!-- Spawn Car -->
<!-- node pkg="buzzmobile" name="sim_spawn_car" type="sim_spawn_car.sh"/ -->
<include file="$(find buzzmobile)/launch/includes/sim_spawn_car.launch"/>
</launch>
5 changes: 4 additions & 1 deletion buzzmobile/sense/maps_querier/maps_querier.py
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Expand Up @@ -11,7 +11,10 @@
import googlemaps
import rospy

import googlemapskey as gmpskey
try:
import googlemapskey as gmpskey
except ImportError as e:
pass

@chsahit chsahit Nov 15, 2017

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are you sure we want to fail silently here? Maybe a warning message that says they should init the googlemapskey. If you're ok with that I can push it to this branch.

@joshuamorton joshuamorton Nov 15, 2017

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a "This should be a test and you should be faking gmpskey" warning wouldn't be a terrible thing.


from datetime import datetime
from sensor_msgs.msg import NavSatFix
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13 changes: 8 additions & 5 deletions buzzmobile/setup.py
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Expand Up @@ -4,9 +4,15 @@
# for downloading the packages needed for this project.
from setuptools import setup

TEST_REQUIRES = [
'pytest==3.0.3',
'netifaces==0.10.5',
'pyrostest>=0.1.2',
]

setup(
name='buzzmobile',
version='0.3',
version='0.3.1',
url='https://github.com/gtagency/buzzmobile',
author='gtagency',
license='MIT',
Expand All @@ -18,12 +24,9 @@
'numpy==1.11.2',
'polyline==1.3.1',
'pylint',
'pytest==3.0.3',
'pyyaml==3.12',
'rospkg==1.0.41',
'ds4drv', # requires apt-get install python-dev
'empy==3.3.2', # required to make catkin_make work
'netifaces==0.10.5', # required for testing
'pyrostest>=0.1.2', # required for testing
],
] + TEST_REQUIRES,
)
16 changes: 10 additions & 6 deletions buzzmobile/tests/simulation/test_gazebo_connection.py
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@@ -1,17 +1,21 @@
from pyrostest import RosTest, with_launch_file
from rosgraph_msgs.msg import Clock
"""Simple simulation test to connect to Gazebo."""

import time

from rosgraph_msgs.msg import Clock

from pyrostest import RosTest, with_launch_file

class TestGazeboConnection(RosTest):
"""Tests for simulation testing infrastructure."""

@with_launch_file('buzzmobile', 'simulation.launch')
@with_launch_file('buzzmobile', 'simulation_test.launch')
def test_clock_runs(self):
"""Test that simulation.launch correctly launches gazebo"""
with self.check_topic('/clock', Clock) as ct:
assert(ct.message)
print(ct.message)
time.sleep(30)

time.sleep(20)

with self.check_topic('/clock', Clock, 20) as ct1:
print(ct1.message)
assert(ct1.message)
2 changes: 1 addition & 1 deletion ci_scripts/simulation
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Expand Up @@ -14,5 +14,5 @@ source ~/catkin_ws/devel/setup.bash
cd ~/catkin_ws/src/buzzmobile/buzzmobile

# Run unit tests
pytest tests/simulation
python -m pytest tests/simulation

2 changes: 1 addition & 1 deletion ci_scripts/unittest
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Expand Up @@ -14,5 +14,5 @@ source ~/catkin_ws/devel/setup.bash
cd ~/catkin_ws/src/buzzmobile/buzzmobile

# Run unit tests
pytest tests/unit
python -m pytest tests/unit

2 changes: 1 addition & 1 deletion ci_scripts/update_deps
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Expand Up @@ -12,4 +12,4 @@ cd ~/catkin_ws/src
rosdep install -y --from-paths ./buzzmobile/buzzmobile --ignore-src --rosdistro=indigo

cd ~/catkin_ws/src/buzzmobile
pip install -e buzzmobile
python -m pip install -e buzzmobile