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urdf_gazebo_extensions.cc
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/*
* Copyright 2015 Open Source Robotics Foundation
*
* 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 <string>
#include <gtest/gtest.h>
#include "sdf/sdf.hh"
#include "test_config.h"
/////////////////////////////////////////////////
TEST(SDFParser, UrdfGazeboExtensionURDFTest)
{
const std::string urdfTestFile =
sdf::testing::TestFile("integration", "urdf_gazebo_extensions.urdf");
sdf::SDFPtr robot(new sdf::SDF());
sdf::init(robot);
ASSERT_TRUE(sdf::readFile(urdfTestFile, robot));
sdf::ElementPtr model = robot->Root()->GetElement("model");
for (sdf::ElementPtr joint = model->GetElement("joint"); joint;
joint = joint->GetNextElement("joint"))
{
std::string jointName = joint->Get<std::string>("name");
if (jointName == "jointw0")
{
// No cfm_damping tag was specified
EXPECT_FALSE(joint->HasElement("physics"));
}
else if (jointName == "joint01")
{
// cfmDamping = true
ASSERT_TRUE(joint->HasElement("physics"));
sdf::ElementPtr physics = joint->GetElement("physics");
ASSERT_TRUE(physics->HasElement("ode"));
ASSERT_TRUE(physics->HasElement("provide_feedback"));
EXPECT_TRUE(physics->Get<bool>("provide_feedback"));
ASSERT_TRUE(physics->HasElement("ode"));
sdf::ElementPtr ode = physics->GetElement("ode");
ASSERT_TRUE(ode->HasElement("provide_feedback"));
EXPECT_TRUE(ode->Get<bool>("provide_feedback"));
ASSERT_TRUE(ode->HasElement("implicit_spring_damper"));
EXPECT_TRUE(!ode->Get<bool>("implicit_spring_damper"));
ASSERT_TRUE(ode->HasElement("cfm_damping"));
EXPECT_TRUE(!ode->Get<bool>("cfm_damping"));
ASSERT_TRUE(ode->HasElement("fudge_factor"));
EXPECT_DOUBLE_EQ(ode->Get<double>("fudge_factor"), 0.56789);
ASSERT_TRUE(ode->HasElement("limit"));
sdf::ElementPtr limit = ode->GetElement("limit");
ASSERT_TRUE(limit->HasElement("cfm"));
EXPECT_DOUBLE_EQ(limit->Get<double>("cfm"), 123);
ASSERT_TRUE(limit->HasElement("erp"));
EXPECT_DOUBLE_EQ(limit->Get<double>("erp"), 0.987);
ASSERT_TRUE(joint->HasElement("axis"));
sdf::ElementPtr axis = joint->GetElement("axis");
ASSERT_TRUE(axis->HasElement("dynamics"));
sdf::ElementPtr dynamics = axis->GetElement("dynamics");
ASSERT_TRUE(dynamics->HasElement("damping"));
EXPECT_DOUBLE_EQ(dynamics->Get<double>("damping"), 1.1111);
ASSERT_TRUE(dynamics->HasElement("friction"));
EXPECT_DOUBLE_EQ(dynamics->Get<double>("friction"), 2.2222);
ASSERT_TRUE(dynamics->HasElement("spring_reference"));
EXPECT_DOUBLE_EQ(dynamics->Get<double>("spring_reference"), 0.234);
ASSERT_TRUE(dynamics->HasElement("spring_stiffness"));
EXPECT_DOUBLE_EQ(dynamics->Get<double>("spring_stiffness"), 0.567);
}
else if (jointName == "joint12")
{
// cfmDamping not provided
ASSERT_TRUE(joint->HasElement("physics"));
sdf::ElementPtr physics = joint->GetElement("physics");
EXPECT_FALSE(physics->HasElement("implicit_spring_damper"));
}
else if (jointName == "joint13")
{
// implicitSpringDamper = 1
ASSERT_TRUE(joint->HasElement("physics"));
sdf::ElementPtr physics = joint->GetElement("physics");
ASSERT_TRUE(physics->HasElement("implicit_spring_damper"));
EXPECT_TRUE(physics->Get<bool>("implicit_spring_damper"));
}
}
sdf::ElementPtr link0;
for (sdf::ElementPtr link = model->GetElement("link"); link;
link = link->GetNextElement("link"))
{
const auto& linkName = link->Get<std::string>("name");
if (linkName == "link0")
{
link0 = link;
}
else if (linkName == "link1" || linkName == "link2")
{
EXPECT_TRUE(link->HasElement("enable_wind"));
EXPECT_TRUE(link->HasElement("gravity"));
EXPECT_FALSE(link->Get<bool>("gravity"));
EXPECT_TRUE(link->HasElement("velocity_decay"));
auto velocityDecay = link->GetElement("velocity_decay");
EXPECT_DOUBLE_EQ(0.1, velocityDecay->Get<double>("linear"));
if (linkName == "link1")
{
EXPECT_TRUE(link->Get<bool>("enable_wind"));
EXPECT_DOUBLE_EQ(0.2, velocityDecay->Get<double>("angular"));
}
else
{
// linkName == "link2"
EXPECT_FALSE(link->Get<bool>("enable_wind"));
EXPECT_DOUBLE_EQ(0.1, velocityDecay->Get<double>("angular"));
}
}
else
{
// No gazebo tags added
EXPECT_FALSE(link->HasElement("enable_wind"));
EXPECT_FALSE(link->HasElement("gravity"));
EXPECT_FALSE(link->HasElement("velocity_decay"));
}
}
ASSERT_TRUE(link0);
auto checkElementPoses = [&](const std::string &_elementName) -> void
{
bool foundElementNoPose {false};
bool foundElementPose {false};
bool foundElementPoseRelative {false};
bool foundElementPoseTwoLevel {false};
bool foundIssue378Element {false};
bool foundIssue67Element {false};
for (sdf::ElementPtr element = link0->GetElement(_elementName); element;
element = element->GetNextElement(_elementName))
{
const auto& elementName = element->Get<std::string>("name");
if (elementName == _elementName + "NoPose")
{
foundElementNoPose = true;
EXPECT_TRUE(element->HasElement("pose"));
const auto poseElem = element->GetElement("pose");
const auto& posePair = poseElem->Get<ignition::math::Pose3d>(
"", ignition::math::Pose3d::Zero);
ASSERT_TRUE(posePair.second);
const auto& pose = posePair.first;
EXPECT_DOUBLE_EQ(pose.X(), 333.0);
EXPECT_DOUBLE_EQ(pose.Y(), 0.0);
EXPECT_DOUBLE_EQ(pose.Z(), 0.0);
EXPECT_DOUBLE_EQ(pose.Roll(), 0.0);
EXPECT_DOUBLE_EQ(pose.Pitch(), 0.0);
EXPECT_NEAR(pose.Yaw(), IGN_PI_2, 1e-5);
EXPECT_FALSE(poseElem->GetNextElement("pose"));
}
else if (elementName == _elementName + "Pose")
{
foundElementPose = true;
EXPECT_TRUE(element->HasElement("pose"));
const auto poseElem = element->GetElement("pose");
const auto& posePair = poseElem->Get<ignition::math::Pose3d>(
"", ignition::math::Pose3d::Zero);
ASSERT_TRUE(posePair.second);
const auto& pose = posePair.first;
EXPECT_DOUBLE_EQ(pose.X(), 333.0);
EXPECT_DOUBLE_EQ(pose.Y(), 111.0);
EXPECT_DOUBLE_EQ(pose.Z(), 0.0);
EXPECT_DOUBLE_EQ(pose.Roll(), 0.0);
EXPECT_DOUBLE_EQ(pose.Pitch(), 0.0);
EXPECT_NEAR(pose.Yaw(), IGN_PI_2 - 1, 1e-5);
EXPECT_FALSE(poseElem->GetNextElement("pose"));
}
else if (elementName == _elementName + "PoseRelative")
{
foundElementPoseRelative = true;
EXPECT_TRUE(element->HasElement("pose"));
const auto poseElem = element->GetElement("pose");
const auto& posePair = poseElem->Get<ignition::math::Pose3d>(
"", ignition::math::Pose3d::Zero);
ASSERT_TRUE(posePair.second);
const auto& pose = posePair.first;
EXPECT_DOUBLE_EQ(pose.X(), 111.0);
EXPECT_DOUBLE_EQ(pose.Y(), 0.0);
EXPECT_DOUBLE_EQ(pose.Z(), 0.0);
EXPECT_DOUBLE_EQ(pose.Roll(), 0.0);
EXPECT_DOUBLE_EQ(pose.Pitch(), 0.0);
EXPECT_NEAR(pose.Yaw(), -1, 1e-5);
EXPECT_FALSE(poseElem->GetNextElement("pose"));
}
else if (elementName == _elementName + "PoseTwoLevel")
{
foundElementPoseTwoLevel = true;
EXPECT_TRUE(element->HasElement("pose"));
const auto poseElem = element->GetElement("pose");
const auto& posePair = poseElem->Get<ignition::math::Pose3d>(
"", ignition::math::Pose3d::Zero);
ASSERT_TRUE(posePair.second);
const auto& pose = posePair.first;
EXPECT_DOUBLE_EQ(pose.X(), 333.0);
EXPECT_DOUBLE_EQ(pose.Y(), 111.0);
EXPECT_DOUBLE_EQ(pose.Z(), 222.0);
EXPECT_DOUBLE_EQ(pose.Roll(), 0.0);
EXPECT_DOUBLE_EQ(pose.Pitch(), 0.0);
EXPECT_NEAR(pose.Yaw(), IGN_PI_2 - 1, 1e-5);
EXPECT_FALSE(poseElem->GetNextElement("pose"));
}
else if (elementName == "issue378_" + _elementName)
{
foundIssue378Element = true;
EXPECT_TRUE(element->HasElement("pose"));
const auto poseElem = element->GetElement("pose");
const auto& posePair = poseElem->Get<ignition::math::Pose3d>(
"", ignition::math::Pose3d::Zero);
ASSERT_TRUE(posePair.second);
const auto& pose = posePair.first;
EXPECT_DOUBLE_EQ(pose.X(), 1);
EXPECT_DOUBLE_EQ(pose.Y(), 2);
EXPECT_DOUBLE_EQ(pose.Z(), 3);
EXPECT_DOUBLE_EQ(pose.Roll(), 0.1);
EXPECT_DOUBLE_EQ(pose.Pitch(), 0.2);
EXPECT_DOUBLE_EQ(pose.Yaw(), 0.3);
EXPECT_FALSE(poseElem->GetNextElement("pose"));
}
else if (elementName == "issue67_" + _elementName)
{
foundIssue67Element = true;
EXPECT_TRUE(element->HasElement("pose"));
const auto poseElem = element->GetElement("pose");
const auto& posePair = poseElem->Get<ignition::math::Pose3d>(
"", ignition::math::Pose3d::Zero);
ASSERT_TRUE(posePair.second);
const auto& pose = posePair.first;
EXPECT_GT(std::abs(pose.X() - (-0.20115)), 0.1);
EXPECT_GT(std::abs(pose.Y() - 0.42488), 0.1);
EXPECT_GT(std::abs(pose.Z() - 0.30943), 0.1);
EXPECT_GT(std::abs(pose.Roll() - 1.5708), 0.1);
EXPECT_GT(std::abs(pose.Pitch() - (-0.89012)), 0.1);
EXPECT_GT(std::abs(pose.Yaw() - 1.5708), 0.1);
EXPECT_FALSE(poseElem->GetNextElement("pose"));
}
}
EXPECT_TRUE(foundElementNoPose) << _elementName;
EXPECT_TRUE(foundElementPose) << _elementName;
EXPECT_TRUE(foundElementPoseRelative) << _elementName;
EXPECT_TRUE(foundElementPoseTwoLevel) << _elementName;
EXPECT_TRUE(foundIssue378Element) << _elementName;
EXPECT_TRUE(foundIssue67Element) << _elementName;
};
checkElementPoses("light");
checkElementPoses("projector");
checkElementPoses("sensor");
}