arm_navigation_tests: arm_navigation_tests: regression_test_pose_goal

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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_msgs::CollisionObject static_object_1_;
00073   static_object_1_.header.stamp = ros::Time::now();
00074   static_object_1_.header.frame_id = "odom_combined";
00075   static_object_1_.id = "object_1";
00076   static_object_1_.operation.operation = arm_navigation_msgs::CollisionObjectOperation::ADD;
00077   static_object_1_.shapes.resize(1);
00078   static_object_1_.shapes[0].type = arm_navigation_msgs::Shape::CYLINDER;
00079   static_object_1_.shapes[0].dimensions.resize(2);
00080   static_object_1_.shapes[0].dimensions[0] = .1;
00081   static_object_1_.shapes[0].dimensions[1] = 1.5;
00082   static_object_1_.poses.resize(1);
00083   static_object_1_.poses[0].position.x = .75;
00084   static_object_1_.poses[0].position.y = -.188;
00085   static_object_1_.poses[0].position.z = .91;
00086   static_object_1_.poses[0].orientation.w = 1.0;
00087 
00088   goalA.planning_scene_diff.collision_objects.push_back(static_object_1_);
00089 
00090   arm_navigation_utils::ArmNavigationUtils arm_nav_utils;
00091   EXPECT_TRUE(arm_nav_utils.takeStaticMap());
00092 
00093   goalA.motion_plan_request.group_name = "right_arm";
00094   goalA.motion_plan_request.num_planning_attempts = 1;
00095   private_handle.param<std::string>("planner_id",goalA.motion_plan_request.planner_id,std::string(""));
00096   private_handle.param<std::string>("planner_service_name",goalA.planner_service_name,std::string("/ompl_planning/plan_kinematic_path"));
00097 
00098   goalA.motion_plan_request.allowed_planning_time = ros::Duration(5.0);
00099     
00100   goalA.motion_plan_request.goal_constraints.position_constraints.resize(1);
00101   goalA.motion_plan_request.goal_constraints.position_constraints[0].header.stamp = ros::Time::now();
00102   goalA.motion_plan_request.goal_constraints.position_constraints[0].header.frame_id = "torso_lift_link";
00103 
00104   //this is intentionally out of reach
00105   goalA.motion_plan_request.goal_constraints.position_constraints[0].link_name = "r_wrist_roll_link";
00106   goalA.motion_plan_request.goal_constraints.position_constraints[0].position.x = 0.75;
00107   goalA.motion_plan_request.goal_constraints.position_constraints[0].position.y = -0.188;
00108   goalA.motion_plan_request.goal_constraints.position_constraints[0].position.z = 1.2;
00109     
00110   goalA.motion_plan_request.goal_constraints.position_constraints[0].constraint_region_shape.type = arm_navigation_msgs::Shape::BOX;
00111   goalA.motion_plan_request.goal_constraints.position_constraints[0].constraint_region_shape.dimensions.push_back(0.02);
00112   goalA.motion_plan_request.goal_constraints.position_constraints[0].constraint_region_shape.dimensions.push_back(0.02);
00113   goalA.motion_plan_request.goal_constraints.position_constraints[0].constraint_region_shape.dimensions.push_back(0.02);
00114 
00115   goalA.motion_plan_request.goal_constraints.position_constraints[0].constraint_region_orientation.w = 1.0;
00116   goalA.motion_plan_request.goal_constraints.position_constraints[0].weight = 1.0;
00117 
00118   goalA.motion_plan_request.goal_constraints.orientation_constraints.resize(1);
00119   goalA.motion_plan_request.goal_constraints.orientation_constraints[0].header.stamp = ros::Time::now();
00120   goalA.motion_plan_request.goal_constraints.orientation_constraints[0].header.frame_id = "torso_lift_link";    
00121   goalA.motion_plan_request.goal_constraints.orientation_constraints[0].link_name = "r_wrist_roll_link";
00122   goalA.motion_plan_request.goal_constraints.orientation_constraints[0].orientation.x = 0.0;
00123   goalA.motion_plan_request.goal_constraints.orientation_constraints[0].orientation.y = 0.0;
00124   goalA.motion_plan_request.goal_constraints.orientation_constraints[0].orientation.z = 0.0;
00125   goalA.motion_plan_request.goal_constraints.orientation_constraints[0].orientation.w = 1.0;
00126     
00127   goalA.motion_plan_request.goal_constraints.orientation_constraints[0].absolute_roll_tolerance = 0.04;
00128   goalA.motion_plan_request.goal_constraints.orientation_constraints[0].absolute_pitch_tolerance = 0.04;
00129   goalA.motion_plan_request.goal_constraints.orientation_constraints[0].absolute_yaw_tolerance = 0.04;
00130 
00131   goalA.motion_plan_request.goal_constraints.orientation_constraints[0].weight = 1.0;
00132 
00133   /*   
00134   // These are in here just for reference
00135   std::vector<std::string> names(7);
00136   names[0] = "r_shoulder_pan_joint";
00137   names[1] = "r_shoulder_lift_joint";
00138   names[2] = "r_upper_arm_roll_joint";
00139   names[3] = "r_elbow_flex_joint";
00140   names[4] = "r_forearm_roll_joint";
00141   names[5] = "r_wrist_flex_joint";
00142   names[6] = "r_wrist_roll_joint";
00143   */
00144 
00145   int num_test_attempts = 0;
00146   int max_attempts = 5;
00147   bool success = false;
00148   while (nh.ok())
00149   {
00150     bool finished_within_time = false;
00151     move_arm.sendGoal(goalA);
00152     finished_within_time = move_arm.waitForResult(ros::Duration(100.0));
00153     actionlib::SimpleClientGoalState state = move_arm.getState();
00154     success = (state == actionlib::SimpleClientGoalState::SUCCEEDED);
00155     if ((!finished_within_time || !success) && num_test_attempts < max_attempts)
00156     {
00157       move_arm.cancelGoal();
00158       if(!finished_within_time) {
00159         ROS_INFO("Timed out achieving goal A, trying again. Trying again, attempt: %d",num_test_attempts);
00160       } else {
00161         ROS_INFO("Failed achieving goal A, trying again. Trying again, attempt: %d",num_test_attempts);
00162       }
00163       num_test_attempts++;
00164     }
00165     else
00166     {
00167       if(!success)
00168       {
00169         ROS_INFO("Action finished: %s",state.toString().c_str());
00170         move_arm.cancelGoal();
00171       }
00172       ROS_INFO("Action finished: %s",state.toString().c_str());
00173       break;
00174     }
00175   }
00176   EXPECT_FALSE(success);
00177 
00178   goalA.planning_scene_diff.collision_objects.pop_back();
00179   num_test_attempts = 0;
00180   while (nh.ok())
00181   {
00182     bool finished_within_time = false;
00183     move_arm.sendGoal(goalA);
00184     finished_within_time = move_arm.waitForResult(ros::Duration(100.0));
00185     actionlib::SimpleClientGoalState state = move_arm.getState();
00186     success = (state == actionlib::SimpleClientGoalState::SUCCEEDED);
00187     if ((!finished_within_time || !success) && num_test_attempts < max_attempts)
00188     {
00189       move_arm.cancelGoal();
00190       if(!finished_within_time) {
00191         ROS_INFO("Timed out achieving goal A, trying again. Trying again, attempt: %d",num_test_attempts);
00192       } else {
00193         ROS_INFO("Failed achieving goal A, trying again. Trying again, attempt: %d",num_test_attempts);
00194       }
00195       num_test_attempts++;
00196     }
00197     else
00198     {
00199       if(!success)
00200       {
00201         ROS_INFO("Action finished: %s",state.toString().c_str());
00202         move_arm.cancelGoal();
00203       }
00204       ROS_INFO("Action finished: %s",state.toString().c_str());
00205       break;
00206     }
00207   }
00208   //should still fail
00209   EXPECT_FALSE(success);
00210 
00211 
00212   ros::shutdown();
00213   spin_thread.join();
00214 }
00215 
00216 int main(int argc, char **argv){
00217   testing::InitGoogleTest(&argc, argv);
00218   ros::init (argc, argv, "move_arm_regression_test");
00219   return RUN_ALL_TESTS();
00220 }
regression_test_pose_goal_failure.cpp
