289 lines
12 KiB
C++
289 lines
12 KiB
C++
/*
|
|
* Copyright 2017 The Cartographer Authors
|
|
*
|
|
* Licensed under the Apache License, Version 2.0 (the "License");
|
|
* you may not use this file except in compliance with the License.
|
|
* You may obtain a copy of the License at
|
|
*
|
|
* http://www.apache.org/licenses/LICENSE-2.0
|
|
*
|
|
* Unless required by applicable law or agreed to in writing, software
|
|
* distributed under the License is distributed on an "AS IS" BASIS,
|
|
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
* See the License for the specific language governing permissions and
|
|
* limitations under the License.
|
|
*/
|
|
|
|
#include <condition_variable>
|
|
#include <mutex>
|
|
|
|
#include "cartographer/mapping/internal/test_helpers.h"
|
|
#include "cartographer/mapping/local_slam_result_data.h"
|
|
#include "cartographer_grpc/client/map_builder_stub.h"
|
|
#include "cartographer_grpc/map_builder_server.h"
|
|
#include "cartographer_grpc/map_builder_server_options.h"
|
|
#include "cartographer_grpc/testing/mock_map_builder.h"
|
|
#include "cartographer_grpc/testing/mock_trajectory_builder.h"
|
|
#include "glog/logging.h"
|
|
#include "gmock/gmock.h"
|
|
#include "gtest/gtest.h"
|
|
|
|
using cartographer::mapping::MapBuilder;
|
|
using cartographer::mapping::MapBuilderInterface;
|
|
using cartographer::mapping::PoseGraphInterface;
|
|
using cartographer::mapping::TrajectoryBuilderInterface;
|
|
using SensorId = cartographer::mapping::TrajectoryBuilderInterface::SensorId;
|
|
using testing::_;
|
|
|
|
namespace cartographer_grpc {
|
|
namespace {
|
|
|
|
const SensorId kImuSensorId{SensorId::SensorType::IMU, "imu"};
|
|
const SensorId kRangeSensorId{SensorId::SensorType::RANGE, "range"};
|
|
constexpr double kDuration = 4.; // Seconds.
|
|
constexpr double kTimeStep = 0.1; // Seconds.
|
|
constexpr double kTravelDistance = 1.2; // Meters.
|
|
|
|
class ClientServerTest : public ::testing::Test {
|
|
protected:
|
|
void SetUp() override {
|
|
// TODO(cschuet): Due to the hard-coded addresses these tests will become
|
|
// flaky when run in parallel.
|
|
const std::string kMapBuilderServerLua = R"text(
|
|
include "map_builder_server.lua"
|
|
MAP_BUILDER.use_trajectory_builder_2d = true
|
|
MAP_BUILDER.pose_graph.optimize_every_n_nodes = 0
|
|
MAP_BUILDER_SERVER.num_event_threads = 1
|
|
MAP_BUILDER_SERVER.num_grpc_threads = 1
|
|
MAP_BUILDER_SERVER.uplink_server_address = ""
|
|
return MAP_BUILDER_SERVER)text";
|
|
auto map_builder_server_parameters =
|
|
cartographer::mapping::test::ResolveLuaParameters(kMapBuilderServerLua);
|
|
map_builder_server_options_ =
|
|
CreateMapBuilderServerOptions(map_builder_server_parameters.get());
|
|
const std::string kTrajectoryBuilderLua = R"text(
|
|
include "trajectory_builder.lua"
|
|
TRAJECTORY_BUILDER.trajectory_builder_2d.use_imu_data = false
|
|
TRAJECTORY_BUILDER.trajectory_builder_2d.submaps.num_range_data = 4
|
|
return TRAJECTORY_BUILDER)text";
|
|
auto trajectory_builder_parameters =
|
|
cartographer::mapping::test::ResolveLuaParameters(
|
|
kTrajectoryBuilderLua);
|
|
trajectory_builder_options_ =
|
|
cartographer::mapping::CreateTrajectoryBuilderOptions(
|
|
trajectory_builder_parameters.get());
|
|
local_slam_result_callback_ =
|
|
[this](
|
|
int, cartographer::common::Time,
|
|
cartographer::transform::Rigid3d local_pose,
|
|
cartographer::sensor::RangeData,
|
|
std::unique_ptr<const cartographer::mapping::
|
|
TrajectoryBuilderInterface::InsertionResult>) {
|
|
std::unique_lock<std::mutex> lock(local_slam_result_mutex_);
|
|
local_slam_result_poses_.push_back(local_pose);
|
|
lock.unlock();
|
|
local_slam_result_condition_.notify_all();
|
|
};
|
|
}
|
|
|
|
void InitializeRealServer() {
|
|
auto map_builder = cartographer::common::make_unique<MapBuilder>(
|
|
map_builder_server_options_.map_builder_options());
|
|
server_ = cartographer::common::make_unique<MapBuilderServer>(
|
|
map_builder_server_options_, std::move(map_builder));
|
|
EXPECT_TRUE(server_ != nullptr);
|
|
}
|
|
|
|
void InitializeServerWithMockMapBuilder() {
|
|
auto mock_map_builder =
|
|
cartographer::common::make_unique<testing::MockMapBuilder>();
|
|
mock_map_builder_ = mock_map_builder.get();
|
|
server_ = cartographer::common::make_unique<MapBuilderServer>(
|
|
map_builder_server_options_, std::move(mock_map_builder));
|
|
EXPECT_TRUE(server_ != nullptr);
|
|
mock_trajectory_builder_ =
|
|
cartographer::common::make_unique<testing::MockTrajectoryBuilder>();
|
|
}
|
|
|
|
void InitializeStub() {
|
|
stub_ = cartographer::common::make_unique<mapping::MapBuilderStub>(
|
|
map_builder_server_options_.server_address());
|
|
EXPECT_TRUE(stub_ != nullptr);
|
|
}
|
|
|
|
void WaitForLocalSlamResults(size_t size) {
|
|
std::unique_lock<std::mutex> lock(local_slam_result_mutex_);
|
|
local_slam_result_condition_.wait(
|
|
lock, [&] { return local_slam_result_poses_.size() >= size; });
|
|
}
|
|
|
|
proto::MapBuilderServerOptions map_builder_server_options_;
|
|
testing::MockMapBuilder* mock_map_builder_;
|
|
std::unique_ptr<testing::MockTrajectoryBuilder> mock_trajectory_builder_;
|
|
cartographer::mapping::proto::TrajectoryBuilderOptions
|
|
trajectory_builder_options_;
|
|
std::unique_ptr<MapBuilderServer> server_;
|
|
std::unique_ptr<mapping::MapBuilderStub> stub_;
|
|
TrajectoryBuilderInterface::LocalSlamResultCallback
|
|
local_slam_result_callback_;
|
|
std::condition_variable local_slam_result_condition_;
|
|
std::mutex local_slam_result_mutex_;
|
|
std::vector<cartographer::transform::Rigid3d> local_slam_result_poses_;
|
|
};
|
|
|
|
TEST_F(ClientServerTest, StartAndStopServer) {
|
|
InitializeRealServer();
|
|
server_->Start();
|
|
server_->Shutdown();
|
|
}
|
|
|
|
TEST_F(ClientServerTest, AddTrajectoryBuilder) {
|
|
InitializeRealServer();
|
|
server_->Start();
|
|
InitializeStub();
|
|
int trajectory_id = stub_->AddTrajectoryBuilder(
|
|
{kImuSensorId}, trajectory_builder_options_, nullptr);
|
|
stub_->FinishTrajectory(trajectory_id);
|
|
server_->Shutdown();
|
|
}
|
|
|
|
TEST_F(ClientServerTest, AddTrajectoryBuilderWithMock) {
|
|
InitializeServerWithMockMapBuilder();
|
|
server_->Start();
|
|
InitializeStub();
|
|
std::set<SensorId> expected_sensor_ids = {kImuSensorId};
|
|
EXPECT_CALL(
|
|
*mock_map_builder_,
|
|
AddTrajectoryBuilder(::testing::ContainerEq(expected_sensor_ids), _, _))
|
|
.WillOnce(::testing::Return(3));
|
|
EXPECT_CALL(*mock_map_builder_, GetTrajectoryBuilder(_))
|
|
.WillRepeatedly(::testing::Return(nullptr));
|
|
int trajectory_id = stub_->AddTrajectoryBuilder(
|
|
expected_sensor_ids, trajectory_builder_options_, nullptr);
|
|
EXPECT_EQ(trajectory_id, 3);
|
|
EXPECT_CALL(*mock_map_builder_, FinishTrajectory(trajectory_id));
|
|
stub_->FinishTrajectory(trajectory_id);
|
|
server_->Shutdown();
|
|
}
|
|
|
|
TEST_F(ClientServerTest, AddSensorData) {
|
|
trajectory_builder_options_.mutable_trajectory_builder_2d_options()
|
|
->set_use_imu_data(true);
|
|
InitializeRealServer();
|
|
server_->Start();
|
|
InitializeStub();
|
|
int trajectory_id = stub_->AddTrajectoryBuilder(
|
|
{kImuSensorId}, trajectory_builder_options_, nullptr);
|
|
TrajectoryBuilderInterface* trajectory_stub =
|
|
stub_->GetTrajectoryBuilder(trajectory_id);
|
|
cartographer::sensor::ImuData imu_data{
|
|
cartographer::common::FromUniversal(42), Eigen::Vector3d(0., 0., 9.8),
|
|
Eigen::Vector3d::Zero()};
|
|
trajectory_stub->AddSensorData(kImuSensorId.id, imu_data);
|
|
stub_->FinishTrajectory(trajectory_id);
|
|
server_->Shutdown();
|
|
}
|
|
|
|
TEST_F(ClientServerTest, AddSensorDataWithMock) {
|
|
InitializeServerWithMockMapBuilder();
|
|
server_->Start();
|
|
InitializeStub();
|
|
std::set<SensorId> expected_sensor_ids = {kImuSensorId};
|
|
EXPECT_CALL(
|
|
*mock_map_builder_,
|
|
AddTrajectoryBuilder(::testing::ContainerEq(expected_sensor_ids), _, _))
|
|
.WillOnce(::testing::Return(3));
|
|
int trajectory_id = stub_->AddTrajectoryBuilder(
|
|
expected_sensor_ids, trajectory_builder_options_, nullptr);
|
|
EXPECT_EQ(trajectory_id, 3);
|
|
EXPECT_CALL(*mock_map_builder_, GetTrajectoryBuilder(_))
|
|
.WillRepeatedly(::testing::Return(mock_trajectory_builder_.get()));
|
|
cartographer::mapping::TrajectoryBuilderInterface* trajectory_stub =
|
|
stub_->GetTrajectoryBuilder(trajectory_id);
|
|
cartographer::sensor::ImuData imu_data{
|
|
cartographer::common::FromUniversal(42), Eigen::Vector3d(0., 0., 9.8),
|
|
Eigen::Vector3d::Zero()};
|
|
EXPECT_CALL(*mock_trajectory_builder_,
|
|
AddSensorData(
|
|
::testing::StrEq(kImuSensorId.id),
|
|
::testing::Matcher<const cartographer::sensor::ImuData&>(_)))
|
|
.WillOnce(::testing::Return());
|
|
trajectory_stub->AddSensorData(kImuSensorId.id, imu_data);
|
|
EXPECT_CALL(*mock_map_builder_, FinishTrajectory(trajectory_id));
|
|
stub_->FinishTrajectory(trajectory_id);
|
|
server_->Shutdown();
|
|
}
|
|
|
|
TEST_F(ClientServerTest, LocalSlam2D) {
|
|
InitializeRealServer();
|
|
server_->Start();
|
|
InitializeStub();
|
|
int trajectory_id =
|
|
stub_->AddTrajectoryBuilder({kRangeSensorId}, trajectory_builder_options_,
|
|
local_slam_result_callback_);
|
|
TrajectoryBuilderInterface* trajectory_stub =
|
|
stub_->GetTrajectoryBuilder(trajectory_id);
|
|
const auto measurements =
|
|
cartographer::mapping::test::GenerateFakeRangeMeasurements(
|
|
kTravelDistance, kDuration, kTimeStep);
|
|
for (const auto& measurement : measurements) {
|
|
trajectory_stub->AddSensorData(kRangeSensorId.id, measurement);
|
|
}
|
|
WaitForLocalSlamResults(measurements.size());
|
|
stub_->FinishTrajectory(trajectory_id);
|
|
EXPECT_EQ(local_slam_result_poses_.size(), measurements.size());
|
|
EXPECT_NEAR(kTravelDistance,
|
|
(local_slam_result_poses_.back().translation() -
|
|
local_slam_result_poses_.front().translation())
|
|
.norm(),
|
|
0.1 * kTravelDistance);
|
|
server_->Shutdown();
|
|
}
|
|
|
|
TEST_F(ClientServerTest, GlobalSlam3D) {
|
|
map_builder_server_options_.mutable_map_builder_options()
|
|
->set_use_trajectory_builder_2d(false);
|
|
map_builder_server_options_.mutable_map_builder_options()
|
|
->set_use_trajectory_builder_3d(true);
|
|
map_builder_server_options_.mutable_map_builder_options()
|
|
->mutable_pose_graph_options()
|
|
->set_optimize_every_n_nodes(3);
|
|
trajectory_builder_options_.mutable_trajectory_builder_3d_options()
|
|
->mutable_motion_filter_options()
|
|
->set_max_distance_meters(0);
|
|
trajectory_builder_options_.mutable_trajectory_builder_3d_options()
|
|
->mutable_motion_filter_options()
|
|
->set_max_angle_radians(0);
|
|
InitializeRealServer();
|
|
server_->Start();
|
|
InitializeStub();
|
|
int trajectory_id = stub_->AddTrajectoryBuilder(
|
|
{kRangeSensorId, kImuSensorId}, trajectory_builder_options_,
|
|
local_slam_result_callback_);
|
|
TrajectoryBuilderInterface* trajectory_stub =
|
|
stub_->GetTrajectoryBuilder(trajectory_id);
|
|
const auto measurements =
|
|
cartographer::mapping::test::GenerateFakeRangeMeasurements(
|
|
kTravelDistance, kDuration, kTimeStep);
|
|
for (const auto& measurement : measurements) {
|
|
cartographer::sensor::ImuData imu_data{
|
|
measurement.time - cartographer::common::FromSeconds(kTimeStep / 2),
|
|
Eigen::Vector3d(0., 0., 9.8), Eigen::Vector3d::Zero()};
|
|
trajectory_stub->AddSensorData(kImuSensorId.id, imu_data);
|
|
trajectory_stub->AddSensorData(kRangeSensorId.id, measurement);
|
|
}
|
|
// First range data will not call back while initializing PoseExtrapolator, so
|
|
// expect one less.
|
|
WaitForLocalSlamResults(measurements.size() - 1);
|
|
stub_->FinishTrajectory(trajectory_id);
|
|
EXPECT_NEAR(kTravelDistance,
|
|
(local_slam_result_poses_.back().translation() -
|
|
local_slam_result_poses_.front().translation())
|
|
.norm(),
|
|
0.1 * kTravelDistance);
|
|
server_->Shutdown();
|
|
}
|
|
|
|
} // namespace
|
|
} // namespace cartographer_grpc
|