arm_navigation_tests: arm_navigation_tests: regression_test_pose

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00036 
00037 /* \author: Ioan Sucan, Sachin Chitta */
00038 
00039 #include <ros/ros.h>
00040 #include <actionlib/client/simple_action_client.h>
00041 #include <arm_navigation_msgs/MoveArmAction.h>
00042 
00043 #include <stdio.h>
00044 #include <stdlib.h>
00045 #include <time.h>
00046 #include <boost/thread.hpp>
00047 #include <ros/ros.h>
00048 #include <gtest/gtest.h>
00049 
00050 #include <arm_navigation_msgs/Shape.h>
00051 #include <arm_navigation_tests/arm_navigation_utils.h>
00052 
00053 
00054 typedef actionlib::SimpleActionClient<arm_navigation_msgs::MoveArmAction> MoveArmClient;
00055 
00056 void spinThread()
00057 {
00058   ros::spin();
00059 }
00060 
00061 TEST(MoveArm, goToPoseGoal)
00062 {
00063   ros::NodeHandle nh;
00064   ros::NodeHandle private_handle("~");
00065   actionlib::SimpleActionClient<arm_navigation_msgs::MoveArmAction> move_arm(nh, "move_right_arm");
00066   boost::thread spin_thread(&spinThread);
00067 
00068   move_arm.waitForServer();
00069   ROS_INFO("Connected to server");
00070   arm_navigation_msgs::MoveArmGoal goalA;
00071 
00072   arm_navigation_utils::ArmNavigationUtils arm_nav_utils;
00073   EXPECT_TRUE(arm_nav_utils.takeStaticMap());
00074 
00075   goalA.motion_plan_request.group_name = "right_arm";
00076   goalA.motion_plan_request.num_planning_attempts = 1;
00077   private_handle.param<std::string>("planner_id",goalA.motion_plan_request.planner_id,std::string("chomp_planner_longrange"));
00078   private_handle.param<std::string>("planner_service_name",goalA.planner_service_name,std::string("/chomp_planner_longrange/plan_path"));
00079 
00080   goalA.motion_plan_request.allowed_planning_time = ros::Duration(5.0);
00081     
00082   goalA.motion_plan_request.goal_constraints.position_constraints.resize(1);
00083   goalA.motion_plan_request.goal_constraints.position_constraints[0].header.stamp = ros::Time::now();
00084   goalA.motion_plan_request.goal_constraints.position_constraints[0].header.frame_id = "torso_lift_link";
00085     
00086   goalA.motion_plan_request.goal_constraints.position_constraints[0].link_name = "r_wrist_roll_link";
00087   goalA.motion_plan_request.goal_constraints.position_constraints[0].position.x = 0.75;
00088   goalA.motion_plan_request.goal_constraints.position_constraints[0].position.y = -0.188;
00089   goalA.motion_plan_request.goal_constraints.position_constraints[0].position.z = 0;
00090     
00091   goalA.motion_plan_request.goal_constraints.position_constraints[0].constraint_region_shape.type = arm_navigation_msgs::Shape::BOX;
00092   goalA.motion_plan_request.goal_constraints.position_constraints[0].constraint_region_shape.dimensions.push_back(0.02);
00093   goalA.motion_plan_request.goal_constraints.position_constraints[0].constraint_region_shape.dimensions.push_back(0.02);
00094   goalA.motion_plan_request.goal_constraints.position_constraints[0].constraint_region_shape.dimensions.push_back(0.02);
00095 
00096   goalA.motion_plan_request.goal_constraints.position_constraints[0].constraint_region_orientation.w = 1.0;
00097   goalA.motion_plan_request.goal_constraints.position_constraints[0].weight = 1.0;
00098 
00099   goalA.motion_plan_request.goal_constraints.orientation_constraints.resize(1);
00100   goalA.motion_plan_request.goal_constraints.orientation_constraints[0].header.stamp = ros::Time::now();
00101   goalA.motion_plan_request.goal_constraints.orientation_constraints[0].header.frame_id = "torso_lift_link";    
00102   goalA.motion_plan_request.goal_constraints.orientation_constraints[0].link_name = "r_wrist_roll_link";
00103   goalA.motion_plan_request.goal_constraints.orientation_constraints[0].orientation.x = 0.0;
00104   goalA.motion_plan_request.goal_constraints.orientation_constraints[0].orientation.y = 0.0;
00105   goalA.motion_plan_request.goal_constraints.orientation_constraints[0].orientation.z = 0.0;
00106   goalA.motion_plan_request.goal_constraints.orientation_constraints[0].orientation.w = 1.0;
00107     
00108   goalA.motion_plan_request.goal_constraints.orientation_constraints[0].absolute_roll_tolerance = 0.04;
00109   goalA.motion_plan_request.goal_constraints.orientation_constraints[0].absolute_pitch_tolerance = 0.04;
00110   goalA.motion_plan_request.goal_constraints.orientation_constraints[0].absolute_yaw_tolerance = 0.04;
00111 
00112   goalA.motion_plan_request.goal_constraints.orientation_constraints[0].weight = 1.0;
00113 
00114   /*   
00115   // These are in here just for reference
00116   std::vector<std::string> names(7);
00117   names[0] = "r_shoulder_pan_joint";
00118   names[1] = "r_shoulder_lift_joint";
00119   names[2] = "r_upper_arm_roll_joint";
00120   names[3] = "r_elbow_flex_joint";
00121   names[4] = "r_forearm_roll_joint";
00122   names[5] = "r_wrist_flex_joint";
00123   names[6] = "r_wrist_roll_joint";
00124   */
00125 
00126   int num_test_attempts = 0;
00127   int max_attempts = 5;
00128   bool success = false;
00129   while (nh.ok())
00130   {
00131     bool finished_within_time = false;
00132     move_arm.sendGoal(goalA);
00133     finished_within_time = move_arm.waitForResult(ros::Duration(100.0));
00134     actionlib::SimpleClientGoalState state = move_arm.getState();
00135     success = (state == actionlib::SimpleClientGoalState::SUCCEEDED);
00136     if ((!finished_within_time || !success) && num_test_attempts < max_attempts)
00137     {
00138       move_arm.cancelGoal();
00139       ROS_INFO("Timed out achieving goal A, trying again. Trying again, attempt: %d",num_test_attempts);
00140       num_test_attempts++;
00141     }
00142     else
00143     {
00144       if(!success)
00145       {
00146         ROS_INFO("Action finished: %s",state.toString().c_str());
00147         move_arm.cancelGoal();
00148       }
00149       ROS_INFO("Action finished: %s",state.toString().c_str());
00150       break;
00151     }
00152   }
00153   EXPECT_TRUE(success);
00154   ros::shutdown();
00155   spin_thread.join();
00156 }
00157 
00158 int main(int argc, char **argv){
00159   testing::InitGoogleTest(&argc, argv);
00160   ros::init (argc, argv, "move_arm_regression_test");
00161   return RUN_ALL_TESTS();
00162 }
regression_test_pose_goal.cpp
