ServerFixture.hh
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2  * Copyright (C) 2012 Open Source Robotics Foundation
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4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
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17 #ifndef _GAZEBO_SERVER_FIXTURE_HH_
18 #define _GAZEBO_SERVER_FIXTURE_HH_
19 
20 #pragma GCC diagnostic ignored "-Wswitch-default"
21 #pragma GCC diagnostic ignored "-Wfloat-equal"
22 #pragma GCC diagnostic ignored "-Wshadow"
23 
24 // The following is needed to enable the GetMemInfo function for OSX
25 #ifdef __MACH__
26 # include <mach/mach.h>
27 #endif // __MACH__
28 
29 #include <sdf/sdf.hh>
30 
31 #include <gtest/gtest.h>
32 #include <boost/thread.hpp>
33 #include <mutex>
34 #include <boost/filesystem.hpp>
35 
36 #include <map>
37 #include <string>
38 #include <vector>
39 
40 #include <ignition/math/Pose3.hh>
41 #include <ignition/math/SignalStats.hh>
42 #include <ignition/math/Vector3Stats.hh>
43 
44 #include "gazebo/transport/transport.hh"
45 
48 #include "gazebo/common/Console.hh"
49 #include "gazebo/physics/World.hh"
52 #include "gazebo/sensors/sensors.hh"
53 #include "gazebo/rendering/rendering.hh"
54 #include "gazebo/msgs/msgs.hh"
55 
56 #include "gazebo/gazebo_config.h"
57 #include "gazebo/Server.hh"
58 #include "gazebo/util/system.hh"
59 
60 #include "test_config.h"
61 
62 namespace gazebo
63 {
64  std::string custom_exec(std::string _cmd);
65 
66  class ServerFixture : public testing::Test
67  {
69  protected: ServerFixture();
70 
72  protected: virtual ~ServerFixture();
73 
75  protected: virtual void TearDown();
76 
78  protected: virtual void Unload();
79 
82  protected: virtual void Load(const std::string &_worldFilename);
83 
88  protected: virtual void Load(const std::string &_worldFilename,
89  bool _paused);
90 
98  protected: virtual void Load(const std::string &_worldFilename,
99  bool _paused, const std::string &_physics,
100  const std::vector<std::string> &_systemPlugins = {});
101 
106  protected: virtual void LoadArgs(const std::string &_args);
107 
112  protected: void RunServer(const std::vector<std::string> &_args);
113 
116  protected: rendering::ScenePtr GetScene(
117  const std::string &_sceneName = "default");
118 
121  protected: void OnStats(ConstWorldStatisticsPtr &_msg);
122 
124  protected: void SetPause(bool _pause);
125 
128  protected: double GetPercentRealTime() const;
129 
133  protected: void OnPose(ConstPosesStampedPtr &_msg);
134 
138  protected: ignition::math::Pose3d EntityPose(
139  const std::string &_name);
140 
144  protected: bool HasEntity(const std::string &_name);
145 
152  protected: void PrintImage(const std::string &_name, unsigned char **_image,
153  unsigned int _width, unsigned int _height,
154  unsigned int _depth);
155 
160  protected: void PrintScan(const std::string &_name, double *_scan,
161  unsigned int _sampleCount);
162 
171  protected: void FloatCompare(float *_scanA, float *_scanB,
172  unsigned int _sampleCount, float &_diffMax,
173  float &_diffSum, float &_diffAvg);
174 
183  protected: void DoubleCompare(double *_scanA, double *_scanB,
184  unsigned int _sampleCount, double &_diffMax,
185  double &_diffSum, double &_diffAvg);
186 
196  protected: void ImageCompare(unsigned char *_imageA,
197  unsigned char *_imageB,
198  unsigned int _width, unsigned int _height,
199  unsigned int _depth,
200  unsigned int &_diffMax, unsigned int &_diffSum,
201  double &_diffAvg);
202 
209  private: void OnNewFrame(const unsigned char *_image,
210  unsigned int _width, unsigned int _height,
211  unsigned int _depth,
212  const std::string &/*_format*/);
213 
219  protected: void GetFrame(const std::string &_cameraName,
220  unsigned char **_imgData, unsigned int &_width,
221  unsigned int &_height);
222 
226  protected: physics::ModelPtr SpawnModel(const msgs::Model &_msg);
227 
232  protected: template<typename T>
233  static void CheckPointer(boost::shared_ptr<T> _ptr)
234  {
235  ASSERT_TRUE(_ptr != NULL);
236  }
237 
257  protected: void SpawnCamera(const std::string &_modelName,
258  const std::string &_cameraName,
259  const ignition::math::Vector3d &_pos =
260  ignition::math::Vector3d::Zero,
261  const ignition::math::Vector3d &_rpy =
262  ignition::math::Vector3d::Zero,
263  unsigned int _width = 320, unsigned int _height = 240,
264  double _rate = 25,
265  const std::string &_noiseType = "",
266  double _noiseMean = 0.0, double _noiseStdDev = 0.0,
267  bool _distortion = false, double _distortionK1 = 0.0,
268  double _distortionK2 = 0.0, double _distortionK3 = 0.0,
269  double _distortionP1 = 0.0, double _distortionP2 = 0.0,
270  double _cx = 0.5, double _cy = 0.5);
271 
295  protected: void SpawnWideAngleCamera(const std::string &_modelName,
296  const std::string &_cameraName,
297  const ignition::math::Vector3d &_pos =
298  ignition::math::Vector3d::Zero,
299  const ignition::math::Vector3d &_rpy =
300  ignition::math::Vector3d::Zero,
301  unsigned int _width = 320,
302  unsigned int _height = 240,
303  double _rate = 25,
304  const double _hfov = 60,
305  const std::string &_lensType = "stereographic",
306  const bool _scaleToHfov = true,
307  const double _cutoffAngle = 3.1415,
308  const double _envTextureSize = 512,
309  const double _c1 = 1.05, const double _c2 = 4,
310  const double _f = 1.0,
311  const std::string &_fun = "tan");
312 
328  protected: void SpawnRaySensor(const std::string &_modelName,
329  const std::string &_raySensorName,
330  const ignition::math::Vector3d &_pos =
331  ignition::math::Vector3d::Zero,
332  const ignition::math::Vector3d &_rpy =
333  ignition::math::Vector3d::Zero,
334  double _hMinAngle = -2.0, double _hMaxAngle = 2.0,
335  double _vMinAngle = -1.0, double _vMaxAngle = 1.0,
336  double _minRange = 0.08, double _maxRange = 10,
337  double _rangeResolution = 0.01, unsigned int _samples = 640,
338  unsigned int _vSamples = 1, double _hResolution = 1.0,
339  double _vResolution = 1.0,
340  const std::string &_noiseType = "", double _noiseMean = 0.0,
341  double _noiseStdDev = 0.0);
342 
350  protected: sensors::SonarSensorPtr SpawnSonar(const std::string &_modelName,
351  const std::string &_sonarName,
352  const ignition::math::Pose3d &_pose,
353  const double _minRange,
354  const double _maxRange,
355  const double _radius);
356 
371  protected: void SpawnGpuRaySensor(const std::string &_modelName,
372  const std::string &_raySensorName,
373  const ignition::math::Vector3d &_pos =
374  ignition::math::Vector3d::Zero,
375  const ignition::math::Vector3d &_rpy =
376  ignition::math::Vector3d::Zero,
377  double _hMinAngle = -2.0, double _hMaxAngle = 2.0,
378  double _minRange = 0.08, double _maxRange = 10,
379  double _rangeResolution = 0.01, unsigned int _samples = 640,
380  const std::string &_noiseType = "", double _noiseMean = 0.0,
381  double _noiseStdDev = 0.0);
382 
402  protected: void SpawnGpuRaySensorVertical(const std::string &_modelName,
403  const std::string &_raySensorName,
404  const ignition::math::Vector3d &_pos,
405  const ignition::math::Vector3d &_rpy,
406  double _hMinAngle = -2.0, double _hMaxAngle = 2.0,
407  double _vMinAngle = -1.0, double _vMaxAngle = 1.0,
408  double _minRange = 0.08, double _maxRange = 10,
409  double _rangeResolution = 0.01, unsigned int _samples = 640,
410  unsigned int _vSamples = 1, double _hResolution = 1.0,
411  double _vResolution = 1.0,
412  const std::string &_noiseType = "", double _noiseMean = 0.0,
413  double _noiseStdDev = 0.0);
414 
425  protected: void SpawnDepthCameraSensor(const std::string &_modelName,
426  const std::string &_cameraName,
427  const ignition::math::Vector3d &_pos =
428  ignition::math::Vector3d::Zero,
429  const ignition::math::Vector3d &_rpy =
430  ignition::math::Vector3d::Zero,
431  const unsigned int _width = 320,
432  const unsigned int _height = 240,
433  const double _rate = 25, const double _near = 0.1,
434  const double _far = 10);
435 
449  protected: void SpawnImuSensor(const std::string &_modelName,
450  const std::string &_imuSensorName,
451  const ignition::math::Vector3d &_pos =
452  ignition::math::Vector3d::Zero,
453  const ignition::math::Vector3d &_rpy =
454  ignition::math::Vector3d::Zero,
455  const std::string &_noiseType = "",
456  double _rateNoiseMean = 0.0, double _rateNoiseStdDev = 0.0,
457  double _rateBiasMean = 0.0, double _rateBiasStdDev = 0.0,
458  double _accelNoiseMean = 0.0, double _accelNoiseStdDev = 0.0,
459  double _accelBiasMean = 0.0, double _accelBiasStdDev = 0.0);
460 
468  protected: void SpawnUnitContactSensor(const std::string &_name,
469  const std::string &_sensorName,
470  const std::string &_collisionType,
471  const ignition::math::Vector3d &_pos =
472  ignition::math::Vector3d::Zero,
473  const ignition::math::Vector3d &_rpy =
474  ignition::math::Vector3d::Zero,
475  bool _static = false);
476 
485  protected: void SpawnUnitImuSensor(const std::string &_name,
486  const std::string &_sensorName,
487  const std::string &_collisionType,
488  const std::string &_topic,
489  const ignition::math::Vector3d &_pos =
490  ignition::math::Vector3d::Zero,
491  const ignition::math::Vector3d &_rpy =
492  ignition::math::Vector3d::Zero,
493  bool _static = false);
494 
503  protected: void SpawnUnitAltimeterSensor(const std::string &_name,
504  const std::string &_sensorName,
505  const std::string &_collisionType,
506  const std::string &_topic,
507  const ignition::math::Vector3d &_pos =
508  ignition::math::Vector3d::Zero,
509  const ignition::math::Vector3d &_rpy =
510  ignition::math::Vector3d::Zero,
511  bool _static = false);
512 
521  protected: void SpawnUnitMagnetometerSensor(const std::string &_name,
522  const std::string &_sensorName,
523  const std::string &_collisionType,
524  const std::string &_topic,
525  const ignition::math::Vector3d &_pos =
526  ignition::math::Vector3d::Zero,
527  const ignition::math::Vector3d &_rpy =
528  ignition::math::Vector3d::Zero,
529  bool _static = false);
530 
535  private: void launchTimeoutFailure(const char *_logMsg,
536  const int _timeoutCS);
537 
548  protected: void SpawnWirelessTransmitterSensor(const std::string &_name,
549  const std::string &_sensorName,
550  const ignition::math::Vector3d &_pos,
551  const ignition::math::Vector3d &_rpy,
552  const std::string &_essid,
553  double _freq,
554  double _power,
555  double _gain,
556  bool _visualize = true);
557 
569  protected: void SpawnWirelessReceiverSensor(const std::string &_name,
570  const std::string &_sensorName,
571  const ignition::math::Vector3d &_pos,
572  const ignition::math::Vector3d &_rpy,
573  double _minFreq,
574  double _maxFreq,
575  double _power,
576  double _gain,
577  double _sensitivity,
578  bool _visualize = true);
579 
584  protected: void WaitUntilEntitySpawn(const std::string &_name,
585  unsigned int _sleepEach,
586  int _retries);
587 
592  protected: void WaitUntilSensorSpawn(const std::string &_name,
593  unsigned int _sleepEach,
594  int _retries);
595 
601  protected: void WaitUntilIteration(const uint32_t _goalIteration,
602  const int _sleepEach,
603  const int _retries) const;
604 
610  protected: void WaitUntilSimTime(const common::Time &_goalTime,
611  const int _ms,
612  const int _maxRetries) const;
613 
630  protected: void SpawnLight(const std::string &_name,
631  const std::string &_type,
632  const ignition::math::Vector3d &_pos =
633  ignition::math::Vector3d::Zero,
634  const ignition::math::Vector3d &_rpy =
635  ignition::math::Vector3d::Zero,
636  const ignition::math::Color &_diffuse =
637  ignition::math::Color::White,
638  const ignition::math::Color &_specular =
639  ignition::math::Color::White,
640  const ignition::math::Vector3d &_direction =
641  -ignition::math::Vector3d::UnitZ,
642  const double _attenuationRange = 20,
643  const double _attenuationConstant = 0.5,
644  const double _attenuationLinear = 0.01,
645  const double _attenuationQuadratic = 0.001,
646  const double _spotInnerAngle = 0,
647  const double _spotOuterAngle = 0,
648  const double _spotFallOff = 0,
649  const bool _castShadows = true);
650 
656  protected: void SpawnCylinder(const std::string &_name,
657  const ignition::math::Vector3d &_pos =
658  ignition::math::Vector3d::Zero,
659  const ignition::math::Vector3d &_rpy =
660  ignition::math::Vector3d::Zero,
661  bool _static = false);
662 
670  protected: void SpawnSphere(const std::string &_name,
671  const ignition::math::Vector3d &_pos,
672  const ignition::math::Vector3d &_rpy,
673  bool _wait = true, bool _static = false);
674 
684  protected: void SpawnSphere(const std::string &_name,
685  const ignition::math::Vector3d &_pos,
686  const ignition::math::Vector3d &_rpy,
687  const ignition::math::Vector3d &_cog,
688  double _radius = 1.0,
689  bool _wait = true, bool _static = false);
690 
697  protected: void SpawnBox(const std::string &_name,
698  const ignition::math::Vector3d &_size =
699  ignition::math::Vector3d::One,
700  const ignition::math::Vector3d &_pos =
701  ignition::math::Vector3d::Zero,
702  const ignition::math::Vector3d &_rpy =
703  ignition::math::Vector3d::Zero,
704  bool _static = false);
705 
713  protected: void SpawnTrimesh(const std::string &_name,
714  const std::string &_modelPath,
715  const ignition::math::Vector3d &_scale =
716  ignition::math::Vector3d::One,
717  const ignition::math::Vector3d &_pos =
718  ignition::math::Vector3d::Zero,
719  const ignition::math::Vector3d &_rpy =
720  ignition::math::Vector3d::Zero,
721  bool _static = false);
722 
728  protected: void SpawnEmptyLink(const std::string &_name,
729  const ignition::math::Vector3d &_pos =
730  ignition::math::Vector3d::Zero,
731  const ignition::math::Vector3d &_rpy =
732  ignition::math::Vector3d::Zero,
733  bool _static = false);
734 
737  protected: void SpawnModel(const std::string &_filename);
738 
741  protected: void SpawnSDF(const std::string &_sdf);
742 
746  protected: void LoadPlugin(const std::string &_filename,
747  const std::string &_name);
748 
752  protected: physics::ModelPtr GetModel(const std::string &_name);
753 
756  protected: void RemoveModel(const std::string &_name);
757 
760  protected: void RemovePlugin(const std::string &_name);
761 
765  protected: void GetMemInfo(double &_resident, double &_share);
766 
770  protected: std::string GetUniqueString(const std::string &_prefix);
771 
775  protected: void Record(const std::string &_name, const double _data);
776 
780  protected: void Record(const std::string &_prefix,
781  const ignition::math::SignalStats &_stats);
782 
786  protected: void Record(const std::string &_prefix,
787  const ignition::math::Vector3Stats &_stats);
788 
790  protected: Server *server;
791 
793  protected: boost::thread *serverThread;
794 
797 
800 
803 
806 
809 
811  protected: std::map<std::string, ignition::math::Pose3d> poses;
812 
814  protected: std::mutex receiveMutex;
815 
817  private: unsigned char **imgData;
818 
820  private: int gotImage;
821 
824 
826  private: double percentRealTime;
827 
829  private: bool paused;
830 
832  private: bool serverRunning;
833 
835  private: int uniqueCounter;
836  };
837 
839  {
840  // Documentation inherited.
841  public: virtual void SetUp();
842 
843  // Documentation inherited.
844  protected: virtual void Unload();
845  };
846 } // namespace gazebo
847 #endif // define _GAZEBO_SERVER_FIXTURE_HH_
ServerFixture()
Constructor.
void Record(const std::string &_name, const double _data)
Helper to record data to gtest xml output.
physics::ModelPtr GetModel(const std::string &_name)
Get a pointer to a model.
void WaitUntilSimTime(const common::Time &_goalTime, const int _ms, const int _maxRetries) const
Wait for a number of ms.
void WaitUntilEntitySpawn(const std::string &_name, unsigned int _sleepEach, int _retries)
Wait for a number of ms.
void SpawnCamera(const std::string &_modelName, const std::string &_cameraName, const ignition::math::Vector3d &_pos=ignition::math::Vector3d::Zero, const ignition::math::Vector3d &_rpy=ignition::math::Vector3d::Zero, unsigned int _width=320, unsigned int _height=240, double _rate=25, const std::string &_noiseType="", double _noiseMean=0.0, double _noiseStdDev=0.0, bool _distortion=false, double _distortionK1=0.0, double _distortionK2=0.0, double _distortionK3=0.0, double _distortionP1=0.0, double _distortionP2=0.0, double _cx=0.5, double _cy=0.5)
Spawn a camera.
transport::SubscriberPtr statsSub
World statistics subscription.
Definition: ServerFixture.hh:802
transport::SubscriberPtr poseSub
Pose subscription.
Definition: ServerFixture.hh:799
void RemoveModel(const std::string &_name)
Remove a model by name.
void SpawnDepthCameraSensor(const std::string &_modelName, const std::string &_cameraName, const ignition::math::Vector3d &_pos=ignition::math::Vector3d::Zero, const ignition::math::Vector3d &_rpy=ignition::math::Vector3d::Zero, const unsigned int _width=320, const unsigned int _height=240, const double _rate=25, const double _near=0.1, const double _far=10)
Spawn a depth camera.
Forward declarations for the common classes.
Definition: Animation.hh:26
std::string GetUniqueString(const std::string &_prefix)
Get unique string with a specified prefix.
void WaitUntilSensorSpawn(const std::string &_name, unsigned int _sleepEach, int _retries)
Wait for a number of ms.
Definition: ServerFixture.hh:66
void SpawnWirelessReceiverSensor(const std::string &_name, const std::string &_sensorName, const ignition::math::Vector3d &_pos, const ignition::math::Vector3d &_rpy, double _minFreq, double _maxFreq, double _power, double _gain, double _sensitivity, bool _visualize=true)
Spawn an Wireless receiver sensor on a link.
std::string custom_exec(std::string _cmd)
transport::PublisherPtr factoryPub
Factory publisher.
Definition: ServerFixture.hh:805
ignition::math::Pose3d EntityPose(const std::string &_name)
Get the pose of an entity.
void SpawnCylinder(const std::string &_name, const ignition::math::Vector3d &_pos=ignition::math::Vector3d::Zero, const ignition::math::Vector3d &_rpy=ignition::math::Vector3d::Zero, bool _static=false)
Spawn a cylinder.
void RemovePlugin(const std::string &_name)
Remove a plugin.
boost::shared_ptr< Publisher > PublisherPtr
Definition: TransportTypes.hh:49
boost::shared_ptr< Subscriber > SubscriberPtr
Definition: TransportTypes.hh:53
void WaitUntilIteration(const uint32_t _goalIteration, const int _sleepEach, const int _retries) const
Wait for a number of ms.
virtual ~ServerFixture()
Destructor.
void GetMemInfo(double &_resident, double &_share)
Get the current memory information.
boost::thread * serverThread
Pointer the thread the runs the server.
Definition: ServerFixture.hh:793
sensors::SonarSensorPtr SpawnSonar(const std::string &_modelName, const std::string &_sonarName, const ignition::math::Pose3d &_pose, const double _minRange, const double _maxRange, const double _radius)
Spawn a sonar.
rendering::ScenePtr GetScene(const std::string &_sceneName="default")
Get a pointer to the rendering scene.
void SpawnImuSensor(const std::string &_modelName, const std::string &_imuSensorName, const ignition::math::Vector3d &_pos=ignition::math::Vector3d::Zero, const ignition::math::Vector3d &_rpy=ignition::math::Vector3d::Zero, const std::string &_noiseType="", double _rateNoiseMean=0.0, double _rateNoiseStdDev=0.0, double _rateBiasMean=0.0, double _rateBiasStdDev=0.0, double _accelNoiseMean=0.0, double _accelNoiseStdDev=0.0, double _accelBiasMean=0.0, double _accelBiasStdDev=0.0)
Spawn an imu sensor laser.
void DoubleCompare(double *_scanA, double *_scanB, unsigned int _sampleCount, double &_diffMax, double &_diffSum, double &_diffAvg)
Function to compare two double arrays (for example two laser scans).
void SpawnSDF(const std::string &_sdf)
Send a factory message based on an SDF string.
void SpawnBox(const std::string &_name, const ignition::math::Vector3d &_size=ignition::math::Vector3d::One, const ignition::math::Vector3d &_pos=ignition::math::Vector3d::Zero, const ignition::math::Vector3d &_rpy=ignition::math::Vector3d::Zero, bool _static=false)
Spawn a box.
void FloatCompare(float *_scanA, float *_scanB, unsigned int _sampleCount, float &_diffMax, float &_diffSum, float &_diffAvg)
Function to compare two float arrays (for example two laser scans).
boost::shared_ptr< Node > NodePtr
Definition: TransportTypes.hh:57
default namespace for gazebo
virtual void Load(const std::string &_worldFilename)
Load a world based on a filename.
void PrintImage(const std::string &_name, unsigned char **_image, unsigned int _width, unsigned int _height, unsigned int _depth)
Print image data to screen.
void SetPause(bool _pause)
Set a running simulation paused/unpaused.
virtual void Unload()
Unload the test fixture.
void SpawnLight(const std::string &_name, const std::string &_type, const ignition::math::Vector3d &_pos=ignition::math::Vector3d::Zero, const ignition::math::Vector3d &_rpy=ignition::math::Vector3d::Zero, const ignition::math::Color &_diffuse=ignition::math::Color::White, const ignition::math::Color &_specular=ignition::math::Color::White, const ignition::math::Vector3d &_direction=-ignition::math::Vector3d::UnitZ, const double _attenuationRange=20, const double _attenuationConstant=0.5, const double _attenuationLinear=0.01, const double _attenuationQuadratic=0.001, const double _spotInnerAngle=0, const double _spotOuterAngle=0, const double _spotFallOff=0, const bool _castShadows=true)
Spawn a light.
void RunServer(const std::vector< std::string > &_args)
Run the server.
transport::NodePtr node
Pointer to a node for communication.
Definition: ServerFixture.hh:796
void SpawnEmptyLink(const std::string &_name, const ignition::math::Vector3d &_pos=ignition::math::Vector3d::Zero, const ignition::math::Vector3d &_rpy=ignition::math::Vector3d::Zero, bool _static=false)
Spawn an empty link.
Definition: ServerFixture.hh:838
void SpawnRaySensor(const std::string &_modelName, const std::string &_raySensorName, const ignition::math::Vector3d &_pos=ignition::math::Vector3d::Zero, const ignition::math::Vector3d &_rpy=ignition::math::Vector3d::Zero, double _hMinAngle=-2.0, double _hMaxAngle=2.0, double _vMinAngle=-1.0, double _vMaxAngle=1.0, double _minRange=0.08, double _maxRange=10, double _rangeResolution=0.01, unsigned int _samples=640, unsigned int _vSamples=1, double _hResolution=1.0, double _vResolution=1.0, const std::string &_noiseType="", double _noiseMean=0.0, double _noiseStdDev=0.0)
Spawn a laser.
boost::shared_ptr< Scene > ScenePtr
Definition: RenderTypes.hh:82
void LoadPlugin(const std::string &_filename, const std::string &_name)
Load a plugin.
bool HasEntity(const std::string &_name)
Return true if the named entity exists.
void SpawnGpuRaySensor(const std::string &_modelName, const std::string &_raySensorName, const ignition::math::Vector3d &_pos=ignition::math::Vector3d::Zero, const ignition::math::Vector3d &_rpy=ignition::math::Vector3d::Zero, double _hMinAngle=-2.0, double _hMaxAngle=2.0, double _minRange=0.08, double _maxRange=10, double _rangeResolution=0.01, unsigned int _samples=640, const std::string &_noiseType="", double _noiseMean=0.0, double _noiseStdDev=0.0)
Spawn a gpu laser.
virtual void LoadArgs(const std::string &_args)
Load a world in gzserver.
common::Time simTime
Current simulation time, real time, and pause time.
Definition: ServerFixture.hh:823
void GetFrame(const std::string &_cameraName, unsigned char **_imgData, unsigned int &_width, unsigned int &_height)
Get an image frame from a camera.
std::mutex receiveMutex
Mutex to protect data structures that store messages.
Definition: ServerFixture.hh:814
void SpawnUnitAltimeterSensor(const std::string &_name, const std::string &_sensorName, const std::string &_collisionType, const std::string &_topic, const ignition::math::Vector3d &_pos=ignition::math::Vector3d::Zero, const ignition::math::Vector3d &_rpy=ignition::math::Vector3d::Zero, bool _static=false)
Spawn an altimeter sensor on a link.
static void CheckPointer(boost::shared_ptr< T > _ptr)
Check that a pointer is not NULL.
Definition: ServerFixture.hh:233
std::map< std::string, ignition::math::Pose3d > poses
Map of received poses.
Definition: ServerFixture.hh:811
common::Time realTime
Definition: ServerFixture.hh:823
#define NULL
Definition: CommonTypes.hh:31
void SpawnUnitMagnetometerSensor(const std::string &_name, const std::string &_sensorName, const std::string &_collisionType, const std::string &_topic, const ignition::math::Vector3d &_pos=ignition::math::Vector3d::Zero, const ignition::math::Vector3d &_rpy=ignition::math::Vector3d::Zero, bool _static=false)
Spawn a magnetometer sensor on a link.
void SpawnUnitImuSensor(const std::string &_name, const std::string &_sensorName, const std::string &_collisionType, const std::string &_topic, const ignition::math::Vector3d &_pos=ignition::math::Vector3d::Zero, const ignition::math::Vector3d &_rpy=ignition::math::Vector3d::Zero, bool _static=false)
Spawn an IMU sensor on a link.
transport::PublisherPtr requestPub
Request publisher.
Definition: ServerFixture.hh:808
void PrintScan(const std::string &_name, double *_scan, unsigned int _sampleCount)
Print laser scan to screen.
Server * server
Pointer the Gazebo server.
Definition: ServerFixture.hh:790
boost::shared_ptr< Model > ModelPtr
Definition: PhysicsTypes.hh:94
Definition: Server.hh:41
void SpawnWirelessTransmitterSensor(const std::string &_name, const std::string &_sensorName, const ignition::math::Vector3d &_pos, const ignition::math::Vector3d &_rpy, const std::string &_essid, double _freq, double _power, double _gain, bool _visualize=true)
Spawn an Wireless transmitter sensor on a link.
void OnPose(ConstPosesStampedPtr &_msg)
Function that received poses messages from a running simulation.
virtual void TearDown()
Tear down the test fixture. This gets called by gtest.
void ImageCompare(unsigned char *_imageA, unsigned char *_imageB, unsigned int _width, unsigned int _height, unsigned int _depth, unsigned int &_diffMax, unsigned int &_diffSum, double &_diffAvg)
Function to compare two images.
double GetPercentRealTime() const
Get the real-time factor.
void SpawnTrimesh(const std::string &_name, const std::string &_modelPath, const ignition::math::Vector3d &_scale=ignition::math::Vector3d::One, const ignition::math::Vector3d &_pos=ignition::math::Vector3d::Zero, const ignition::math::Vector3d &_rpy=ignition::math::Vector3d::Zero, bool _static=false)
Spawn a triangle mesh.
common::Time pauseTime
Definition: ServerFixture.hh:823
void SpawnSphere(const std::string &_name, const ignition::math::Vector3d &_pos, const ignition::math::Vector3d &_rpy, bool _wait=true, bool _static=false)
Spawn a sphere.
void SpawnUnitContactSensor(const std::string &_name, const std::string &_sensorName, const std::string &_collisionType, const ignition::math::Vector3d &_pos=ignition::math::Vector3d::Zero, const ignition::math::Vector3d &_rpy=ignition::math::Vector3d::Zero, bool _static=false)
Spawn a contact sensor with the specified collision geometry.
std::shared_ptr< SonarSensor > SonarSensorPtr
Definition: SensorTypes.hh:112
void SpawnWideAngleCamera(const std::string &_modelName, const std::string &_cameraName, const ignition::math::Vector3d &_pos=ignition::math::Vector3d::Zero, const ignition::math::Vector3d &_rpy=ignition::math::Vector3d::Zero, unsigned int _width=320, unsigned int _height=240, double _rate=25, const double _hfov=60, const std::string &_lensType="stereographic", const bool _scaleToHfov=true, const double _cutoffAngle=3.1415, const double _envTextureSize=512, const double _c1=1.05, const double _c2=4, const double _f=1.0, const std::string &_fun="tan")
Spawn a wide angle camera.
#define GAZEBO_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system.hh:59
void SpawnGpuRaySensorVertical(const std::string &_modelName, const std::string &_raySensorName, const ignition::math::Vector3d &_pos, const ignition::math::Vector3d &_rpy, double _hMinAngle=-2.0, double _hMaxAngle=2.0, double _vMinAngle=-1.0, double _vMaxAngle=1.0, double _minRange=0.08, double _maxRange=10, double _rangeResolution=0.01, unsigned int _samples=640, unsigned int _vSamples=1, double _hResolution=1.0, double _vResolution=1.0, const std::string &_noiseType="", double _noiseMean=0.0, double _noiseStdDev=0.0)
Spawn a gpu laser.
physics::ModelPtr SpawnModel(const msgs::Model &_msg)
Spawn a model from a msgs::Model and return ModelPtr.
void OnStats(ConstWorldStatisticsPtr &_msg)
Function that received world stastics messages.
A Time class, can be used to hold wall- or sim-time.
Definition: Time.hh:47