def test_marker(self):
"""
Tests marker
"""
try:
node = None
ros_init()
node = CompatibleNode('test_node')
msg = node.wait_for_one_message("/carla/markers",
MarkerArray,
timeout=TIMEOUT)
self.assertEqual(len(msg.markers), 1) # only ego vehicle exists
ego_marker = msg.markers[0]
self.assertEqual(ego_marker.header.frame_id, "map")
self.assertNotEqual(ego_marker.id, 0)
self.assertEqual(ego_marker.type, 1)
self.assertNotEqual(ego_marker.pose, Pose())
self.assertNotEqual(ego_marker.scale, Vector3())
self.assertEqual(ego_marker.color.r, 0.0)
self.assertEqual(ego_marker.color.g, 255.0)
self.assertEqual(ego_marker.color.b, 0.0)
finally:
if node is not None:
node.destroy_node()
ros_shutdown()
def test_vehicle_info(self):
"""
Tests vehicle_info
"""
try:
node = None
ros_init()
node = CompatibleNode('test_node')
msg = node.wait_for_one_message("/carla/ego_vehicle/vehicle_info",
CarlaEgoVehicleInfo,
timeout=TIMEOUT,
qos_profile=QoSProfile(
depth=1, durability=latch_on))
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())
finally:
if node is not None:
node.destroy_node()
ros_shutdown()
def test_clock(self):
"""
Tests clock
"""
try:
node = None
ros_init()
node = CompatibleNode('test_node')
msg = node.wait_for_one_message("/clock", Clock, timeout=TIMEOUT)
self.assertNotEqual(Clock(), msg)
finally:
if node is not None:
node.destroy_node()
ros_shutdown()
def test_actor_list(self):
"""
Tests actor_list
"""
try:
node = None
ros_init()
node = CompatibleNode('test_node')
msg = node.wait_for_one_message("/carla/actor_list",
CarlaActorList,
timeout=TIMEOUT)
self.assertNotEqual(len(msg.actors), 0)
finally:
if node is not None:
node.destroy_node()
ros_shutdown()
def test_lidar(self):
"""
Tests Lidar sensor node
"""
try:
node = None
ros_init()
node = CompatibleNode('test_node')
msg = node.wait_for_one_message("/carla/ego_vehicle/lidar",
PointCloud2,
timeout=TIMEOUT)
self.assertEqual(msg.header.frame_id, "ego_vehicle/lidar")
finally:
if node is not None:
node.destroy_node()
ros_shutdown()
def test_dvs_camera_events(self):
"""
Tests dvs camera events
"""
try:
node = None
ros_init()
node = CompatibleNode('test_node')
msg = node.wait_for_one_message(
"/carla/ego_vehicle/dvs_front/events",
PointCloud2,
timeout=TIMEOUT)
self.assertEqual(msg.header.frame_id, "ego_vehicle/dvs_front")
finally:
if node is not None:
node.destroy_node()
ros_shutdown()
def test_objects(self):
"""
Tests carla objects
"""
try:
node = None
ros_init()
node = CompatibleNode('test_node')
msg = node.wait_for_one_message("/carla/objects",
ObjectArray,
timeout=TIMEOUT)
self.assertEqual(msg.header.frame_id, "map")
self.assertEqual(len(msg.objects), 1) # only ego vehicle exists
finally:
if node is not None:
node.destroy_node()
ros_shutdown()
def test_ego_vehicle_objects(self):
"""
Tests objects node for ego_vehicle
"""
try:
node = None
ros_init()
node = CompatibleNode('test_node')
msg = node.wait_for_one_message("/carla/ego_vehicle/objects",
ObjectArray,
timeout=15)
self.assertEqual(msg.header.frame_id, "map")
self.assertEqual(len(msg.objects), 0)
finally:
if node is not None:
node.destroy_node()
ros_shutdown()
def test_vehicle_status(self, proc_output):
"""
Tests vehicle_status
"""
try:
node = None
ros_init()
node = CompatibleNode('test_node')
msg = node.wait_for_one_message(
"/carla/ego_vehicle/vehicle_status", CarlaEgoVehicleStatus)
self.assertNotEqual(msg.header, Header())
self.assertEqual(msg.header.frame_id, 'map')
self.assertNotEqual(msg.orientation, Quaternion())
finally:
if node is not None:
node.destroy_node()
ros_shutdown()
def test_traffic_lights_info(self):
"""
Tests traffic_lights
"""
try:
node = None
ros_init()
node = CompatibleNode('test_node')
msg = node.wait_for_one_message("/carla/traffic_lights/info",
CarlaTrafficLightInfoList,
timeout=TIMEOUT,
qos_profile=QoSProfile(
depth=10, durability=latch_on))
self.assertNotEqual(len(msg.traffic_lights), 0)
finally:
if node is not None:
node.destroy_node()
ros_shutdown()
def test_odometry(self):
"""
Tests Odometry
"""
try:
node = None
ros_init()
node = CompatibleNode('test_node')
msg = node.wait_for_one_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())
finally:
if node is not None:
node.destroy_node()
ros_shutdown()
def test_map(self):
"""
Tests map
"""
try:
node = None
ros_init()
node = CompatibleNode('test_node')
msg = node.wait_for_one_message("/carla/map",
String,
timeout=TIMEOUT,
qos_profile=QoSProfile(
depth=10, durability=latch_on))
self.assertNotEqual(len(msg.data), 0)
finally:
if node is not None:
node.destroy_node()
ros_shutdown()
def test_dvs_camera_image(self):
"""
Tests dvs camera images
"""
try:
node = None
ros_init()
node = CompatibleNode('test_node')
msg = node.wait_for_one_message(
"/carla/ego_vehicle/dvs_front/image", Image, timeout=TIMEOUT)
self.assertEqual(msg.header.frame_id, "ego_vehicle/dvs_front")
self.assertEqual(msg.height, 70)
self.assertEqual(msg.width, 400)
self.assertEqual(msg.encoding, "bgr8")
finally:
if node is not None:
node.destroy_node()
ros_shutdown()
def test_world_info(self):
"""
Tests world_info
"""
try:
node = None
ros_init()
node = CompatibleNode('test_node')
msg = node.wait_for_one_message("/carla/world_info",
CarlaWorldInfo,
timeout=TIMEOUT,
qos_profile=QoSProfile(
depth=10, durability=latch_on))
self.assertNotEqual(len(msg.map_name), 0)
self.assertNotEqual(len(msg.opendrive), 0)
finally:
if node is not None:
node.destroy_node()
ros_shutdown()
def test_gnss(self):
"""
Tests Gnss
"""
try:
node = None
ros_init()
node = CompatibleNode('test_node')
msg = node.wait_for_one_message("/carla/ego_vehicle/gnss",
NavSatFix,
timeout=TIMEOUT)
self.assertEqual(msg.header.frame_id, "ego_vehicle/gnss")
self.assertNotEqual(msg.latitude, 0.0)
self.assertNotEqual(msg.longitude, 0.0)
self.assertNotEqual(msg.altitude, 0.0)
finally:
if node is not None:
node.destroy_node()
ros_shutdown()
def test_imu(self):
"""
Tests IMU sensor node
"""
try:
node = None
ros_init()
node = CompatibleNode('test_node')
msg = node.wait_for_one_message("/carla/ego_vehicle/imu",
Imu,
timeout=TIMEOUT)
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)
finally:
if node is not None:
node.destroy_node()
ros_shutdown()
def test_camera_info(self):
"""
Tests camera_info
"""
try:
node = None
ros_init()
node = CompatibleNode('test_node')
msg = node.wait_for_one_message(
"/carla/ego_vehicle/rgb_front/camera_info",
CameraInfo,
timeout=TIMEOUT)
self.assertEqual(msg.header.frame_id, "ego_vehicle/rgb_front")
self.assertEqual(msg.height, 600)
self.assertEqual(msg.width, 800)
finally:
if node is not None:
node.destroy_node()
ros_shutdown()