Fix unit tests (nasa#47)

Fix unit tests and run them in github continuous integration.

Co-authored-by: Katie Browne <[email protected]>

.github/workflows/build_and_test.yml

@@ -0,0 +1,41 @@
+name: Docker Image CI
+
+on:
+  push:
+    branches: [ 'master', 'develop' ]
+  pull_request:
+    branches: [ 'master', 'develop' ]
+
+jobs:
+
+  build-kinetic:
+
+    runs-on: ubuntu-16.04
+
+    steps:
+    - uses: actions/checkout@v2
+
+    - name: Checkout submodule
+      run: git submodule update --init --depth 1 description/media
+
+    - name: Build code for Ubuntu 16
+      run: docker build . -f ./scripts/docker/astrobee_kinetic.Dockerfile -t astrobee/astrobee:latest-kinetic
+
+    - name: Test code
+      run: docker build . -f ./scripts/docker/test_astrobee_kinetic.Dockerfile -t test
+
+  build-melodic:
+
+    runs-on: ubuntu-18.04
+
+    steps:
+    - uses: actions/checkout@v2
+
+    - name: Checkout submodule
+      run: git submodule update --init --depth 1 description/media
+
+    - name: Build code for Ubuntu 18
+      run: docker build . -f ./scripts/docker/astrobee_melodic.Dockerfile -t astrobee/astrobee:latest-melodic
+
+    - name: Test code
+      run: docker build . -f ./scripts/docker/test_astrobee_melodic.Dockerfile -t test

.github/workflows/docs.yaml

@@ -51,4 +51,4 @@ jobs:
         git config user.email "$EMAIL"
         git config user.name "$NAME"
         git commit -m "Automatic update for $GITHUB_SHA."
-        git push origin gh-pages
+        { git push origin gh-pages || true; }

.github/workflows/lint.yaml

@@ -5,7 +5,7 @@ name: Check for lint errors
 on: ['push', 'pull_request']
 
 jobs:
-  build_and_push_docs:
+  lint_check:
     runs-on: ubuntu-latest
 
     steps:

CMakeLists.txt

@@ -282,14 +282,13 @@ else (USE_CTC)
 endif (USE_CTC)
 
 # Bring in catkin
-set(CATKIN_SKIP_TESTING ON CACHE BOOL "NO")
+set(CATKIN_SKIP_TESTING OFF)
 if (USE_CTC)
   # Catkin brings in GTest as a dependency. We don't want it because
   # we have our own ... on top of that it doesn't build correctly for
   # ARM. Our own unit tests however will continue to
   # work. (non-catkin)
   set(CATKIN_ENABLE_TESTING OFF)
-  set(CATKIN_SKIP_TESTING OFF)
 endif (USE_CTC)
 if (USE_ROS)
   set(ENV{ROS_LANG_DISABLE} "genlisp:gennodejs:geneus:$ENV{ROS_LANG_DISABLE}")

astrobee/config/management/fault_table.config

@@ -107,10 +107,10 @@ subsystems={
     }},
   }},
   {name="mobility", nodes={
-    --{name="mapper", faults={
-      --{id=41, warning=false, blocking=false, response=command("noOp"), key="HEARTBEAT_MISSING", description="No Heartbeat from Mapper", heartbeat={timeout_sec=1.1, misses=2.0}},
-      --{id=80, warning=false, blocking=false, response=command("unloadNodelet", "mapper", ""), key="INITIALIZATION_FAILED", description="Mapper Initialization Failed"},
-    --}},
+    {name="mapper", faults={
+      {id=41, warning=false, blocking=false, response=command("noOp"), key="HEARTBEAT_MISSING", description="No Heartbeat from Mapper", heartbeat={timeout_sec=1.1, misses=2.0}},
+      {id=80, warning=false, blocking=false, response=command("unloadNodelet", "mapper", ""), key="INITIALIZATION_FAILED", description="Mapper Initialization Failed"},
+    }},
     {name="planner_qp", faults={
       {id=39, warning=false, blocking=false, response=command("noOp"), key="HEARTBEAT_MISSING", description="No Heartbeat from QP Planner", heartbeat={timeout_sec=1.1, misses=5.0}},
       {id=78, warning=false, blocking=false, response=command("unloadNodelet", "planner_qp", ""), key="INITIALIZATION_FAILED", description="QP Planner Initialization Failed"},

astrobee/config/worlds/mgtf.config

@@ -25,8 +25,8 @@ require "rotations"
 -- Location of the dock and berth tilt values (in degrees)
 world_dock_berth1_tilt = math.rad(0)    -- Tilt in body-frame Y
 world_dock_berth2_tilt = math.rad(0)    -- Tilt in body-frame Y
-world_dock_transform = transform(0.0, 0.0, 0.0),
-  quat4(0.0, 0.0, 1.0, 1.0));
+world_dock_transform = transform(
+  vec3(0.0, 0.0, 0.0), quat4(0.0, 0.0, 0.0, 1.0));
 
 --------------------------
 --      MOBILITY       --
@@ -58,12 +58,13 @@ world_gravity_vector = vec3(0.0, 0.0, 9.80665);
 --------------------------
 
 -- Inertial Parameters
+-- Default assumes freeflyer, no payloads, 4 batteries, measured EEl 2/26/2019
 world_inertia_name = "default";
-world_inertia_com = vec3(0.0, 0.0, 0.0);              -- Center of mass
-world_inertia_mass = 7.0;                             -- Platform mass
-world_inertia_matrix = matrix{{.1083, 0, 0},
-                              {0, .1083, 0},
-                              {0, 0, .1083}};         -- Inertia matrix
+world_inertia_com = vec3(0.003713818, -0.000326347, -0.002532192);              -- Center of mass
+world_inertia_mass = 9.583788668;                           -- Platform + 4 batteries
+world_inertia_matrix = matrix{{0.153427995, 0, 0},
+                              {0, 0.14271405, 0},
+                              {0, 0, 0.162302759}};         -- Inertia matrix
 
 --------------------------
 --     FLIGHT MODES     --
@@ -407,7 +408,7 @@ world_visualeyez_grounding = {
   { tcm=1, led=2, x=0.1835635587737848, y=-3.219100563007645, z=-0.2319006270806013 },
   { tcm=1, led=3, x=1.043904870248541,  y=-3.219100563007645, z= 0.6628505519526655 },
   { tcm=1, led=4, x=1.110810070079649,  y=-2.050167430479354, z=-0.2681018912672751 }
-};
+}
 
 -- Visualeyez target matrix
 world_visualeyez_targets = {

gnc/ctl/test/test_ctl.test

@@ -17,7 +17,6 @@
 
 <launch>
   <include file="$(find astrobee)/launch/sim.launch">
-    <arg name="gui" value="false"/>
     <arg name="dds" value="false"/>
   </include>
   <test pkg="ctl" type="test_ctl" test-name="test_ctl" />

gnc/ctl/test/test_ctl_nominal.cc

@@ -100,7 +100,7 @@ void StateCallback(const ff_msgs::EkfStateConstPtr& state) {
 
 // Holonomic test
 TEST(ctl_nominal, Holonomic) {
-  // The default namespace is given by the group hierarchy in the luanch file
+  // The default namespace is given by the group hierarchy in the launch file
   ros::NodeHandle nh;
   // Wait for the servcer
   ac = std::shared_ptr<actionlib::SimpleActionClient<ff_msgs::ControlAction>>(

hardware/pico_driver/CMakeLists.txt

@@ -30,6 +30,18 @@ create_library(TARGET ${PROJECT_NAME}
   INC  ${catkin_INCLUDE_DIRS} ${royale_INCLUDE_DIRS}
 )
 
+if(CATKIN_ENABLE_TESTING)
+  # Pico flexx initialization fault tester
+  add_rostest_gtest(test_init_pico_flexx
+    test/test_init_pico_flexx.test
+    test/test_init_pico_flexx.cc
+  )
+
+  target_link_libraries(test_init_pico_flexx
+    ${catkin_LIBRARIES} config_reader ff_nodelet
+  )
+endif()
+
 create_tool_targets(DIR tools
   LIBS ${catkin_LIBRARIES} ${royale_LIBRARIES} uvc
   INC ${catkin_INCLUDE_DIRS} ${royale_INCLUDE_DIRS}

localization/camera/CMakeLists.txt

@@ -36,13 +36,6 @@ set(INCLUDES
   ${Boost_INCLUDE_DIRS}
 )
 
-catkin_package(
-  INCLUDE_DIRS include
-  LIBRARIES camera
-  CATKIN_DEPENDS
-#  DEPENDS system_lib
-)
-
 create_library(TARGET camera
   LIBS ${LIBS}
   INC ${INCLUDES}
@@ -58,4 +51,11 @@ create_test_targets(DIR test
   INC ${INCLUDES} ${CERES_INCLUDE_DIRS}
 )
 
+catkin_package(
+  INCLUDE_DIRS include
+  LIBRARIES camera
+  CATKIN_DEPENDS
+#  DEPENDS system_lib
+)
+
 set(CAMERA_INCLUDE_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/include PARENT_SCOPE)

localization/interest_point/CMakeLists.txt

@@ -36,13 +36,6 @@ set(INCLUDES
   ${GLOG_INCLUDE_DIRS}
 )
 
-catkin_package(
-  INCLUDE_DIRS include
-  LIBRARIES interest_point
-  CATKIN_DEPENDS
-#  DEPENDS system_lib
-)
-
 create_library(TARGET interest_point
   LIBS ${LIBS}
   INC ${INCLUDES}
@@ -62,5 +55,12 @@ create_test_targets(DIR test
   INC ${INCLUDES}
 )
 
+catkin_package(
+  INCLUDE_DIRS include
+  LIBRARIES interest_point
+  CATKIN_DEPENDS
+#  DEPENDS system_lib
+)
+
 set(INTEREST_INCLUDE_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/include PARENT_SCOPE)
 

localization/marker_tracking/CMakeLists.txt

@@ -37,16 +37,13 @@ create_library(TARGET marker_tracking
   LIBS ${LIBS}
   INC ${INCLUDES}
   DEPS camera)
+
 if (YAMLCPP_FOUND)
   create_tool_targets(DIR tools
     LIBS marker_tracking ${YAMLCPP_LIBRARIES}
     INC ${INCLUDES})
 endif (YAMLCPP_FOUND)
-create_test_targets(DIR test
-  LIBS marker_tracking
-  INC ${INCLUDES})
 
 if (USE_ROS)
   add_subdirectory(ros)
 endif (USE_ROS)
-

localization/marker_tracking/ros/CMakeLists.txt

@@ -35,6 +35,32 @@ create_tool_targets(DIR tools
   DEPS rosmarkertracking
 )
 
+if(CATKIN_ENABLE_TESTING)
+  find_package(rostest REQUIRED)
+  add_rostest_gtest(test_arxmlio test/test_arxmlio.test
+    test/test_arxmlio.cc
+  )
+  target_link_libraries(test_arxmlio
+    marker_tracking
+  )
+
+  find_package(rostest REQUIRED)
+  add_rostest_gtest(test_marker_config_loader test/test_marker_config_loader.test
+    test/test_marker_config_loader.cc
+  )
+  target_link_libraries(test_marker_config_loader
+    marker_tracking
+  )
+
+  find_package(rostest REQUIRED)
+  add_rostest_gtest(test_marker_detector test/test_marker_detector.test
+    test/test_marker_detector.cc
+  )
+  target_link_libraries(test_marker_detector
+    marker_tracking
+  )
+endif()
+
 install_launch_files()
 install(FILES
   tools/features_counter.py

localization/marker_tracking/test/test_arxmlio.cxx → localization/marker_tracking/ros/test/test_arxmlio.cc

@@ -24,7 +24,7 @@
 #include <string>
 
 TEST(AR_XML_IO, Reading) {
-  std::string data_dir = std::string(TEST_DIR) + "/data/";
+  std::string data_dir = std::string(std::getenv("DATA_DIR"));
 
   marker_tracking::ARTagMap ar_tags;
   marker_tracking::LoadARTagLocation(data_dir + "ar_lab_tags.xml",

localization/marker_tracking/ros/test/test_arxmlio.test

@@ -0,0 +1,21 @@
+<!-- Copyright (c) 2017, United States Government, as represented by the     -->
+<!-- Administrator of the National Aeronautics and Space Administration.     -->
+<!--                                                                         -->
+<!-- All rights reserved.                                                    -->
+<!--                                                                         -->
+<!-- The Astrobee platform is 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.                          -->
+
+<launch>
+  <env name="DATA_DIR" value="$(find marker_tracking)/test/data/" />
+  <test pkg="marker_tracking" type="test_arxmlio" test-name="test_arxmlio" />
+</launch>

localization/marker_tracking/test/test_marker_config_loader.cxx → localization/marker_tracking/ros/test/test_marker_config_loader.cc

@@ -25,7 +25,7 @@
 #include <string>
 
 TEST(MarkerDetector, ConfigLoader) {
-  std::string data_dir = std::string(TEST_DIR) + std::string("/data/");
+  std::string data_dir = std::string(std::getenv("DATA_DIR"));
   std::string filename = std::string("markers_sample.config");
   config_reader::ConfigReader config;
   config.AddFile((data_dir + filename).c_str());

localization/marker_tracking/ros/test/test_marker_config_loader.test

@@ -0,0 +1,22 @@
+<!-- Copyright (c) 2017, United States Government, as represented by the     -->
+<!-- Administrator of the National Aeronautics and Space Administration.     -->
+<!--                                                                         -->
+<!-- All rights reserved.                                                    -->
+<!--                                                                         -->
+<!-- The Astrobee platform is 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.                          -->
+
+<launch>
+  <env name="ASTROBEE_CONFIG_DIR" value="$(find astrobee)/config/tests" />
+  <env name="DATA_DIR" value="$(find marker_tracking)/test/data/" />
+  <test pkg="marker_tracking" type="test_marker_config_loader" test-name="test_marker_config_loader" />
+</launch>

localization/marker_tracking/test/test_marker_detector.cxx → localization/marker_tracking/ros/test/test_marker_detector.cc

@@ -28,7 +28,7 @@
 #include <vector>
 
 TEST(MarkerDetector, TestDetection) {
-  std::string data_dir = std::string(TEST_DIR) + "/data/";
+  std::string data_dir = std::string(std::getenv("DATA_DIR"));
 
   // Create a fake alvar camera for our work.
   camera::CameraParameters cam(Eigen::Vector2i(816, 612),

localization/marker_tracking/ros/test/test_marker_detector.test

@@ -0,0 +1,21 @@
+<!-- Copyright (c) 2017, United States Government, as represented by the     -->
+<!-- Administrator of the National Aeronautics and Space Administration.     -->
+<!--                                                                         -->
+<!-- All rights reserved.                                                    -->
+<!--                                                                         -->
+<!-- The Astrobee platform is 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.                          -->
+
+<launch>
+  <env name="DATA_DIR" value="$(find marker_tracking)/test/data/" />
+  <test pkg="marker_tracking" type="test_marker_detector" test-name="test_marker_detector" />
+</launch>