Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Fix flaky mppi test #4933

Merged
merged 2 commits into from
Mar 5, 2025
+91 −12
Merged

Fix flaky mppi test #4933

Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
d620ef3
Fix flaky mppi test
mini-1235 Feb 20, 2025
b49db1f
Fix linting
mini-1235 Feb 20, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
103 changes: 91 additions & 12 deletions nav2_mppi_controller/test/noise_generator_test.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -82,18 +82,17 @@ TEST(NoiseGeneratorTest, NoiseGeneratorMain)
// Request an update with no noise yet generated, should result in identical outputs
generator.initialize(settings, false, "test_name", &handler);
generator.reset(settings, false); // sets initial sizing and zeros out noises
generator.setNoisedControls(state, control_sequence);
EXPECT_EQ(state.cvx(0), 0);
EXPECT_EQ(state.cvy(0), 0);
EXPECT_EQ(state.cwz(0), 0);
EXPECT_EQ(state.cvx(0, 9), 9);
EXPECT_EQ(state.cvy(0, 9), 9);
EXPECT_EQ(state.cwz(0, 9), 9);

// Request an update with noise requested
generator.generateNextNoises();
std::this_thread::sleep_for(std::chrono::milliseconds(100));
generator.setNoisedControls(state, control_sequence);

// save initial state
auto initial_cvx_0 = state.cvx(0);
auto initial_cvy_0 = state.cvy(0);
auto initial_cwz_0 = state.cwz(0);
auto initial_cvx_9 = state.cvx(0, 9);
auto initial_cvy_9 = state.cvy(0, 9);
auto initial_cwz_9 = state.cwz(0, 9);

EXPECT_NE(state.cvx(0), 0);
EXPECT_EQ(state.cvy(0), 0); // Not populated in non-holonomic
EXPECT_NE(state.cwz(0), 0);
Expand All @@ -102,12 +101,24 @@ TEST(NoiseGeneratorTest, NoiseGeneratorMain)
EXPECT_NE(state.cwz(0, 9), 9);

EXPECT_NEAR(state.cvx(0), 0, 0.3);
EXPECT_NEAR(state.cvy(0), 0, 0.3);
EXPECT_NEAR(state.cwz(0), 0, 0.3);
EXPECT_NEAR(state.cvx(0, 9), 9, 0.3);
EXPECT_NEAR(state.cvy(0, 9), 9, 0.3);
EXPECT_NEAR(state.cwz(0, 9), 9, 0.3);

// Request an update with noise requested
generator.generateNextNoises();
std::this_thread::sleep_for(std::chrono::milliseconds(100));
generator.setNoisedControls(state, control_sequence);

// Ensure the state has changed after generating new noises
EXPECT_NE(state.cvx(0), initial_cvx_0);
EXPECT_EQ(state.cvy(0), initial_cvy_0); // Not populated in non-holonomic
EXPECT_NE(state.cwz(0), initial_cwz_0);
EXPECT_NE(state.cvx(0, 9), initial_cvx_9);
EXPECT_EQ(state.cvy(0, 9), initial_cvy_9); // Not populated in non-holonomic
EXPECT_NE(state.cwz(0, 9), initial_cwz_9);


// Test holonomic setting
generator.reset(settings, true); // Now holonomically
generator.generateNextNoises();
Expand All @@ -129,3 +140,71 @@ TEST(NoiseGeneratorTest, NoiseGeneratorMain)

generator.shutdown();
}

TEST(NoiseGeneratorTest, NoiseGeneratorMainNoRegenerate)
{
// This time with no regeneration of noises
auto node = std::make_shared<rclcpp_lifecycle::LifecycleNode>("node");
node->declare_parameter("test_name.regenerate_noises", rclcpp::ParameterValue(false));
ParametersHandler handler(node);
NoiseGenerator generator;
mppi::models::OptimizerSettings settings;
settings.batch_size = 100;
settings.time_steps = 25;
settings.sampling_std.vx = 0.1;
settings.sampling_std.vy = 0.1;
settings.sampling_std.wz = 0.1;

// Populate a potential control sequence
mppi::models::ControlSequence control_sequence;
control_sequence.reset(25);
for (unsigned int i = 0; i != control_sequence.vx.rows(); i++) {
control_sequence.vx(i) = i;
control_sequence.vy(i) = i;
control_sequence.wz(i) = i;
}

mppi::models::State state;
state.reset(settings.batch_size, settings.time_steps);

// Request an update with no noise yet generated, should result in identical outputs
generator.initialize(settings, false, "test_name", &handler);
generator.reset(settings, false); // sets initial sizing and zeros out noises
std::this_thread::sleep_for(std::chrono::milliseconds(100));
generator.setNoisedControls(state, control_sequence);

// save initial state
auto initial_cvx_0 = state.cvx(0);
auto initial_cvy_0 = state.cvy(0);
auto initial_cwz_0 = state.cwz(0);
auto initial_cvx_9 = state.cvx(0, 9);
auto initial_cvy_9 = state.cvy(0, 9);
auto initial_cwz_9 = state.cwz(0, 9);

EXPECT_NE(state.cvx(0), 0);
EXPECT_EQ(state.cvy(0), 0); // Not populated in non-holonomic
EXPECT_NE(state.cwz(0), 0);
EXPECT_NE(state.cvx(0, 9), 9);
EXPECT_EQ(state.cvy(0, 9), 9); // Not populated in non-holonomic
EXPECT_NE(state.cwz(0, 9), 9);

EXPECT_NEAR(state.cvx(0), 0, 0.3);
EXPECT_NEAR(state.cwz(0), 0, 0.3);
EXPECT_NEAR(state.cvx(0, 9), 9, 0.3);
EXPECT_NEAR(state.cwz(0, 9), 9, 0.3);

// this doesn't work if regenerate_noises is false
generator.generateNextNoises();
std::this_thread::sleep_for(std::chrono::milliseconds(100));
generator.setNoisedControls(state, control_sequence);

// Ensure the state has changed after generating new noises
EXPECT_EQ(state.cvx(0), initial_cvx_0);
EXPECT_EQ(state.cvy(0), initial_cvy_0); // Not populated in non-holonomic
EXPECT_EQ(state.cwz(0), initial_cwz_0);
EXPECT_EQ(state.cvx(0, 9), initial_cvx_9);
EXPECT_EQ(state.cvy(0, 9), initial_cvy_9); // Not populated in non-holonomic
EXPECT_EQ(state.cwz(0, 9), initial_cwz_9);

generator.shutdown();
}
Loading