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 <geometry_msgs/Quaternion.h>
00044 #include <tf/tf.h>
00045 
00046 #include <stdio.h>
00047 #include <stdlib.h>
00048 #include <time.h>
00049 #include <boost/thread.hpp>
00050 #include <ros/ros.h>
00051 #include <gtest/gtest.h>
00052 
00053 #include <arm_navigation_tests/arm_navigation_utils.h>
00054 
00055 typedef actionlib::SimpleActionClient<arm_navigation_msgs::MoveArmAction> MoveArmClient;
00056 
00057 void spinThread()
00058 {
00059   ros::spin();
00060 }
00061 
00062 TEST(MoveArm, goToPoseGoal)
00063 {
00064   ros::NodeHandle nh;
00065   ros::NodeHandle private_handle("~");
00066   actionlib::SimpleActionClient<arm_navigation_msgs::MoveArmAction> move_arm(nh, "move_right_arm");
00067   boost::thread spin_thread(&spinThread);
00068 
00069   move_arm.waitForServer();
00070 
00071   arm_navigation_utils::ArmNavigationUtils arm_nav_utils;
00072   EXPECT_TRUE(arm_nav_utils.takeStaticMap());
00073 
00074   ROS_INFO("Connected to server");
00075   arm_navigation_msgs::MoveArmGoal goalA;
00076 
00077   goalA.motion_plan_request.group_name = "right_arm";
00078   goalA.motion_plan_request.num_planning_attempts = 1;
00079   private_handle.param<std::string>("planner_id",goalA.motion_plan_request.planner_id,std::string("chomp_planner_longrange"));
00080   private_handle.param<std::string>("planner_service_name",goalA.planner_service_name,std::string("/chomp_planner_longrange/plan_path"));
00081 
00082   double goal_x, goal_y, goal_z, goal_roll, goal_pitch, goal_yaw;
00083   private_handle.param<double>("goal_x",goal_x,0.75);
00084   private_handle.param<double>("goal_y",goal_y,-0.188);
00085   private_handle.param<double>("goal_z",goal_z,0.0);
00086 
00087   private_handle.param<double>("goal_roll",goal_roll,0.0);
00088   private_handle.param<double>("goal_pitch",goal_pitch,0.0);
00089   private_handle.param<double>("goal_yaw",goal_yaw,0.0);
00090 
00091   btQuaternion gripper_goal;
00092   geometry_msgs::Quaternion gripper_goal_msg;
00093   gripper_goal.setRPY(goal_roll,goal_pitch,goal_yaw);
00094   tf::quaternionTFToMsg(gripper_goal,gripper_goal_msg);
00095 
00096   goalA.motion_plan_request.allowed_planning_time = ros::Duration(5.0);
00097     
00098   goalA.motion_plan_request.goal_constraints.position_constraints.resize(1);
00099   goalA.motion_plan_request.goal_constraints.position_constraints[0].header.stamp = ros::Time::now();
00100   goalA.motion_plan_request.goal_constraints.position_constraints[0].header.frame_id = "torso_lift_link";
00101     
00102   goalA.motion_plan_request.goal_constraints.position_constraints[0].link_name = "r_wrist_roll_link";
00103   goalA.motion_plan_request.goal_constraints.position_constraints[0].position.x = goal_x;
00104   goalA.motion_plan_request.goal_constraints.position_constraints[0].position.y = goal_y;
00105   goalA.motion_plan_request.goal_constraints.position_constraints[0].position.z = goal_z;
00106 
00107   goalA.motion_plan_request.goal_constraints.position_constraints[0].constraint_region_shape.type = arm_navigation_msgs::Shape::BOX;
00108   goalA.motion_plan_request.goal_constraints.position_constraints[0].constraint_region_shape.dimensions.push_back(0.02);
00109   goalA.motion_plan_request.goal_constraints.position_constraints[0].constraint_region_shape.dimensions.push_back(0.02);
00110   goalA.motion_plan_request.goal_constraints.position_constraints[0].constraint_region_shape.dimensions.push_back(0.02);
00111 
00112   goalA.motion_plan_request.goal_constraints.position_constraints[0].constraint_region_orientation.w = 1.0;
00113 
00114   goalA.motion_plan_request.goal_constraints.position_constraints[0].weight = 1.0;
00115 
00116   goalA.motion_plan_request.goal_constraints.orientation_constraints.resize(1);
00117   goalA.motion_plan_request.goal_constraints.orientation_constraints[0].header.stamp = ros::Time::now();
00118   goalA.motion_plan_request.goal_constraints.orientation_constraints[0].header.frame_id = "torso_lift_link";    
00119   goalA.motion_plan_request.goal_constraints.orientation_constraints[0].link_name = "r_wrist_roll_link";
00120   goalA.motion_plan_request.goal_constraints.orientation_constraints[0].orientation.x = gripper_goal_msg.x;
00121   goalA.motion_plan_request.goal_constraints.orientation_constraints[0].orientation.y = gripper_goal_msg.y;
00122   goalA.motion_plan_request.goal_constraints.orientation_constraints[0].orientation.z = gripper_goal_msg.z;
00123   goalA.motion_plan_request.goal_constraints.orientation_constraints[0].orientation.w = gripper_goal_msg.w;
00124     
00125   goalA.motion_plan_request.goal_constraints.orientation_constraints[0].absolute_roll_tolerance = 0.04;
00126   goalA.motion_plan_request.goal_constraints.orientation_constraints[0].absolute_pitch_tolerance = 0.04;
00127   goalA.motion_plan_request.goal_constraints.orientation_constraints[0].absolute_yaw_tolerance = 0.04;
00128 
00129   goalA.motion_plan_request.goal_constraints.orientation_constraints[0].weight = 1.0;
00130 
00131   /*   
00132   // These are in here just for reference
00133   std::vector<std::string> names(7);
00134   names[0] = "r_shoulder_pan_joint";
00135   names[1] = "r_shoulder_lift_joint";
00136   names[2] = "r_upper_arm_roll_joint";
00137   names[3] = "r_elbow_flex_joint";
00138   names[4] = "r_forearm_roll_joint";
00139   names[5] = "r_wrist_flex_joint";
00140   names[6] = "r_wrist_roll_joint";
00141   */
00142 
00143   int num_test_attempts = 0;
00144   int max_attempts = 5;
00145   bool success = false;
00146   while (nh.ok())
00147   {
00148     bool finished_within_time = false;
00149     move_arm.sendGoal(goalA);
00150     finished_within_time = move_arm.waitForResult(ros::Duration(100.0));
00151     actionlib::SimpleClientGoalState state = move_arm.getState();
00152     success = (state == actionlib::SimpleClientGoalState::SUCCEEDED);
00153     if ((!finished_within_time || !success) && num_test_attempts < max_attempts)
00154     {
00155       move_arm.cancelGoal();
00156       ROS_INFO("Timed out achieving goal A, trying again. Trying again, attempt: %d",num_test_attempts);
00157       num_test_attempts++;
00158     }
00159     else
00160     {
00161       if(!success)
00162       {
00163         ROS_INFO("Action finished %s",state.toString().c_str());
00164         move_arm.cancelGoal();
00165       }
00166       ROS_INFO("Action finished: %s",state.toString().c_str());
00167       break;
00168     }
00169   }
00170   EXPECT_TRUE(success);
00171   ros::shutdown();
00172   spin_thread.join();
00173 }
00174 
00175 int main(int argc, char **argv){
00176   testing::InitGoogleTest(&argc, argv);
00177   ros::init (argc, argv, "move_arm_regression_test");
00178   return RUN_ALL_TESTS();
00179 }
regression_test_pose_goal_param.cpp
