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IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 * 00034 * 00035 *********************************************************************/ 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 #include <arm_control_msgs/TrajectoryStart.h> 00043 00044 #include <stdio.h> 00045 #include <stdlib.h> 00046 #include <time.h> 00047 #include <boost/thread.hpp> 00048 #include <ros/ros.h> 00049 #include <gtest/gtest.h> 00050 00051 #include <arm_navigation_tests/arm_navigation_utils.h> 00052 00053 typedef actionlib::SimpleActionClient<arm_navigation_msgs::MoveArmAction> MoveArmClient; 00054 00055 void spinThread() 00056 { 00057 ros::spin(); 00058 } 00059 00060 bool sendTuckArm() 00061 { 00062 arm_control_msgs::TrajectoryStart::Request req; 00063 arm_control_msgs::TrajectoryStart::Response res; 00064 00065 ros::NodeHandle nh; 00066 ros::ServiceClient trajectory_start_client = nh.serviceClient<arm_control_msgs::TrajectoryStart>("/r_arm_joint_waypoint_controller/TrajectoryStart"); 00067 00068 std::vector<std::string> names(7); 00069 names[0] = "r_shoulder_pan_joint"; 00070 names[1] = "r_shoulder_lift_joint"; 00071 names[2] = "r_upper_arm_roll_joint"; 00072 names[3] = "r_elbow_flex_joint"; 00073 names[4] = "r_forearm_roll_joint"; 00074 names[5] = "r_wrist_flex_joint"; 00075 names[6] = "r_wrist_roll_joint"; 00076 00077 req.trajectory.header.frame_id = "base_link"; 00078 req.trajectory.header.stamp = ros::Time(); 00079 req.trajectory.joint_names = names; 00080 req.trajectory.points.resize(2); 00081 req.request_timing = 0; 00082 req.trajectory.points[0].positions.resize(names.size()); 00083 req.trajectory.points[0].positions[0] = -0.4; 00084 req.trajectory.points[0].positions[1] = 0.0; 00085 req.trajectory.points[0].positions[2] = 0.0; 00086 req.trajectory.points[0].positions[3] = -2.25; 00087 req.trajectory.points[0].positions[4] = 0; 00088 req.trajectory.points[0].positions[5] = 0; 00089 req.trajectory.points[0].positions[6] = 0; 00090 req.trajectory.points[1].positions.resize(names.size()); 00091 req.trajectory.points[1].positions[0] = -0.01; 00092 req.trajectory.points[1].positions[1] = 0.8; 00093 req.trajectory.points[1].positions[2] = -1.2; 00094 req.trajectory.points[1].positions[3] = -1.4; 00095 req.trajectory.points[1].positions[4] = 1.35; 00096 req.trajectory.points[1].positions[5] = -0.18; 00097 req.trajectory.points[1].positions[6] = 0.31; 00098 00099 if (trajectory_start_client.call(req,res)) 00100 { 00101 if (res.trajectory_id < 0) 00102 { 00103 ROS_ERROR("Invalid trajectory id: %d", res.trajectory_id); 00104 return false; 00105 } 00106 ROS_INFO("Sent trajectory %d to controller", res.trajectory_id); 00107 return true; 00108 } 00109 else 00110 { 00111 ROS_ERROR("Unable to start trajectory controller"); 00112 return false; 00113 } 00114 } 00115 00116 00117 TEST(MoveArm, goToPoseGoal) 00118 { 00119 ros::NodeHandle nh; 00120 ros::NodeHandle private_handle("~"); 00121 actionlib::SimpleActionClient<arm_navigation_msgs::MoveArmAction> move_arm(nh, "move_right_arm"); 00122 boost::thread spin_thread(&spinThread); 00123 00124 move_arm.waitForServer(); 00125 ROS_INFO("Connected to server"); 00126 arm_navigation_msgs::MoveArmGoal goalA; 00127 00128 arm_navigation_utils::ArmNavigationUtils arm_nav_utils; 00129 EXPECT_TRUE(arm_nav_utils.takeStaticMap()); 00130 00131 goalA.group_name = "right_arm"; 00132 goalA.num_planning_attempts = 1; 00133 private_handle.param<std::string>("planner_id",goalA.planner_id,std::string("chomp_planner_longrange")); 00134 private_handle.param<std::string>("planner_service_name",goalA.planner_service_name,std::string("/chomp_planner_longrange/plan_path")); 00135 00136 goalA.allowed_planning_time = 10.0; 00137 00138 goalA.goal_constraints.position_constraints.resize(1); 00139 goalA.goal_constraints.position_constraints[0].header.stamp = ros::Time::now(); 00140 goalA.goal_constraints.position_constraints[0].header.frame_id = "torso_lift_link"; 00141 00142 goalA.goal_constraints.position_constraints[0].link_name = "r_wrist_roll_link"; 00143 goalA.goal_constraints.position_constraints[0].position.x = 0.15; 00144 goalA.goal_constraints.position_constraints[0].position.y = -0.95; 00145 goalA.goal_constraints.position_constraints[0].position.var2 = 0; 00146 00147 goalA.goal_constraints.position_constraints[0].constraint_region_shape.type = geometry_primitives::Object::BOX; 00148 goalA.goal_constraints.position_constraints[0].constraint_region_shape.dimensions.push_back(0.02); 00149 goalA.goal_constraints.position_constraints[0].constraint_region_shape.dimensions.push_back(0.02); 00150 goalA.goal_constraints.position_constraints[0].constraint_region_shape.dimensions.push_back(0.02); 00151 00152 goalA.goal_constraints.position_constraints[0].constraint_region_pose.position.x = 0.15; 00153 goalA.goal_constraints.position_constraints[0].constraint_region_pose.position.y = -0.95; 00154 goalA.goal_constraints.position_constraints[0].constraint_region_pose.position.var2 = 0.0; 00155 00156 goalA.goal_constraints.position_constraints[0].constraint_region_pose.orientation.x = 0.0; 00157 goalA.goal_constraints.position_constraints[0].constraint_region_pose.orientation.y = 0.0; 00158 goalA.goal_constraints.position_constraints[0].constraint_region_pose.orientation.var2 = 0.0; 00159 goalA.goal_constraints.position_constraints[0].constraint_region_pose.orientation.w = 1.0; 00160 00161 goalA.goal_constraints.position_constraints[0].weight = 1.0; 00162 00163 goalA.goal_constraints.orientation_constraints.resize(1); 00164 goalA.goal_constraints.orientation_constraints[0].header.stamp = ros::Time::now(); 00165 goalA.goal_constraints.orientation_constraints[0].header.frame_id = "torso_lift_link"; 00166 goalA.goal_constraints.orientation_constraints[0].link_name = "r_wrist_roll_link"; 00167 goalA.goal_constraints.orientation_constraints[0].orientation.x = 0.0; 00168 goalA.goal_constraints.orientation_constraints[0].orientation.y = 0.0; 00169 goalA.goal_constraints.orientation_constraints[0].orientation.var2 = -0.7071; 00170 goalA.goal_constraints.orientation_constraints[0].orientation.w = 0.7071; 00171 00172 goalA.goal_constraints.orientation_constraints[0].constraint_region_shape.type = geometry_primitives::Object::BOX; 00173 goalA.goal_constraints.orientation_constraints[0].constraint_region_shape.dimensions.push_back(0.2); 00174 goalA.goal_constraints.orientation_constraints[0].constraint_region_shape.dimensions.push_back(0.2); 00175 goalA.goal_constraints.orientation_constraints[0].constraint_region_shape.dimensions.push_back(0.2); 00176 00177 00178 goalA.goal_constraints.orientation_constraints[0].constraint_region_pose.position.x = 0.0; 00179 goalA.goal_constraints.orientation_constraints[0].constraint_region_pose.position.y = 0.0; 00180 goalA.goal_constraints.orientation_constraints[0].constraint_region_pose.position.var2 = 0.0; 00181 00182 goalA.goal_constraints.orientation_constraints[0].constraint_region_pose.orientation.x = 0.0; 00183 goalA.goal_constraints.orientation_constraints[0].constraint_region_pose.orientation.y = 0.0; 00184 goalA.goal_constraints.orientation_constraints[0].constraint_region_pose.orientation.var2 = -0.7071; 00185 goalA.goal_constraints.orientation_constraints[0].constraint_region_pose.orientation.w = 0.7071; 00186 00187 goalA.goal_constraints.orientation_constraints[0].weight = 1.0; 00188 00189 std::vector<std::string> names(7); 00190 names[0] = "r_shoulder_pan_joint"; 00191 names[1] = "r_shoulder_lift_joint"; 00192 names[2] = "r_upper_arm_roll_joint"; 00193 names[3] = "r_elbow_flex_joint"; 00194 names[4] = "r_forearm_roll_joint"; 00195 names[5] = "r_wrist_flex_joint"; 00196 names[6] = "r_wrist_roll_joint"; 00197 00198 00199 int num_test_attempts = 0; 00200 int max_attempts = 5; 00201 bool success = false; 00202 00203 00204 while (nh.ok()) 00205 { 00206 bool finished_within_time = false; 00207 sleep(5); 00208 move_arm.sendGoal(goalA); 00209 finished_within_time = move_arm.waitForResult(ros::Duration(100.0)); 00210 actionlib::SimpleClientGoalState state = move_arm.getState(); 00211 success = (state == actionlib::SimpleClientGoalState::SUCCEEDED); 00212 if (!finished_within_time && num_test_attempts < max_attempts) 00213 { 00214 move_arm.cancelAllGoals(); 00215 ROS_INFO("Timed out achieving goal A, trying again. Trying again, attempt: %d",num_test_attempts); 00216 num_test_attempts++; 00217 } 00218 else 00219 { 00220 if(!success) 00221 { 00222 ROS_INFO("Action unsuccessful"); 00223 move_arm.cancelAllGoals(); 00224 } 00225 ROS_INFO("Action finished: %s",state.toString().c_str()); 00226 break; 00227 } 00228 } 00229 EXPECT_TRUE(success); 00230 ros::shutdown(); 00231 spin_thread.join(); 00232 } 00233 00234 int main(int argc, char **argv){ 00235 testing::InitGoogleTest(&argc, argv); 00236 ros::init (argc, argv, "move_arm_regression_test"); 00237 00238 ros::service::waitForService("/r_arm_joint_waypoint_controller/TrajectoryStart"); 00239 if(!sendTuckArm()) 00240 printf("TUCKARM ain't happening! why?\n"); 00241 00242 return RUN_ALL_TESTS(); 00243 } 00244