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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 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 #include <arm_navigation_msgs/CollisionObject.h> 00050 #include <arm_navigation_msgs/Shape.h> 00051 00052 #include <arm_navigation_tests/arm_navigation_utils.h> 00053 00054 typedef actionlib::SimpleActionClient<arm_navigation_msgs::MoveArmAction> MoveArmClient; 00055 00056 unsigned int REPS_TO_TRY = 3; 00057 00058 00059 void spinThread() 00060 { 00061 ros::spin(); 00062 } 00063 00064 TEST(MoveArm, goToPoseGoal) 00065 { 00066 00067 ros::NodeHandle nh; 00068 ros::NodeHandle private_handle("~"); 00069 00070 ros::Publisher object_in_map_pub_; 00071 object_in_map_pub_ = nh.advertise<arm_navigation_msgs::CollisionObject>("collision_object", 10); 00072 00073 actionlib::SimpleActionClient<arm_navigation_msgs::MoveArmAction> move_arm(nh, "move_right_arm"); 00074 boost::thread spin_thread(&spinThread); 00075 00076 move_arm.waitForServer(); 00077 ROS_INFO("Connected to server"); 00078 arm_navigation_utils::ArmNavigationUtils arm_nav_utils; 00079 EXPECT_TRUE(arm_nav_utils.takeStaticMap()); 00080 00081 //push the table and legs into the collision space 00082 arm_navigation_msgs::CollisionObject table_object; 00083 table_object.operation.operation = arm_navigation_msgs::CollisionObjectOperation::ADD; 00084 table_object.header.frame_id = "base_link"; 00085 table_object.header.stamp = ros::Time::now(); 00086 arm_navigation_msgs::Shape object; 00087 object.type = arm_navigation_msgs::Shape::BOX; 00088 object.dimensions.resize(3); 00089 object.dimensions[0] = 1.0; 00090 object.dimensions[1] = 1.0; 00091 object.dimensions[2] = 0.05; 00092 geometry_msgs::Pose pose; 00093 pose.position.x = 1.0; 00094 pose.position.y = 0; 00095 pose.position.z = .5; 00096 pose.orientation.x = 0; 00097 pose.orientation.y = 0; 00098 pose.orientation.z = 0; 00099 pose.orientation.w = 1; 00100 table_object.shapes.push_back(object); 00101 table_object.poses.push_back(pose); 00102 00103 table_object.id = "table"; 00104 object_in_map_pub_.publish(table_object); 00105 00106 // arm_navigation_msgs::ObjectInMap leg_object; 00107 // leg_object.action = arm_navigation_msgs::ObjectInMap::ADD; 00108 // leg_object.header.frame_id = "base_link"; 00109 // leg_object.header.stamp = ros::Time::now(); 00110 // leg_object.object.type = arm_navigation_msgs::Shape::BOX; 00111 // leg_object.object.dimensions.resize(3); 00112 // leg_object.object.dimensions[0] = 0.02; 00113 // leg_object.object.dimensions[1] = 0.02; 00114 // leg_object.object.dimensions[2] = .5; 00115 // leg_object.pose.position.x = .5; 00116 // leg_object.pose.position.y = .5; 00117 // leg_object.pose.position.z = .25; 00118 // leg_object.pose.orientation.x = 0; 00119 // leg_object.pose.orientation.y = 0; 00120 // leg_object.pose.orientation.z = 0; 00121 // leg_object.pose.orientation.w = 1; 00122 00123 // leg_object.id = "leg1"; 00124 // object_in_map_pub_.publish(leg_object); 00125 00126 // leg_object.id = "leg2"; 00127 // leg_object.pose.position.x = .5; 00128 // leg_object.pose.position.y = -.5; 00129 // leg_object.pose.position.z = .25; 00130 // object_in_map_pub_.publish(leg_object); 00131 00132 std::vector<std::string> names(7); 00133 names[0] = "r_shoulder_pan_joint"; 00134 names[1] = "r_shoulder_lift_joint"; 00135 names[2] = "r_upper_arm_roll_joint"; 00136 names[3] = "r_elbow_flex_joint"; 00137 names[4] = "r_forearm_roll_joint"; 00138 names[5] = "r_wrist_flex_joint"; 00139 names[6] = "r_wrist_roll_joint"; 00140 00141 arm_navigation_msgs::MoveArmGoal goalA, goalB; 00142 goalB.motion_plan_request.group_name = "right_arm"; 00143 goalB.motion_plan_request.num_planning_attempts = 1; 00144 goalB.motion_plan_request.allowed_planning_time = ros::Duration(5.0); 00145 00146 private_handle.param<std::string>("planner_id",goalB.motion_plan_request.planner_id,std::string("")); 00147 private_handle.param<std::string>("planner_service_name",goalB.planner_service_name,std::string("/ompl_planning/plan_kinematic_path")); 00148 00149 goalB.motion_plan_request.goal_constraints.joint_constraints.resize(names.size()); 00150 for (unsigned int i = 0 ; i < goalB.motion_plan_request.goal_constraints.joint_constraints.size(); ++i) 00151 { 00152 // goalB.motion_plan_request.goal_constraints.joint_constraints[i].header.stamp = ros::Time::now(); 00153 // goalB.motion_plan_request.goal_constraints.joint_constraints[i].header.frame_id = "base_link"; 00154 goalB.motion_plan_request.goal_constraints.joint_constraints[i].joint_name = names[i]; 00155 goalB.motion_plan_request.goal_constraints.joint_constraints[i].position = 0.0; 00156 goalB.motion_plan_request.goal_constraints.joint_constraints[i].tolerance_below = 0.1; 00157 goalB.motion_plan_request.goal_constraints.joint_constraints[i].tolerance_above = 0.1; 00158 } 00159 00160 goalB.motion_plan_request.goal_constraints.joint_constraints[0].position = -1.5; 00161 goalB.motion_plan_request.goal_constraints.joint_constraints[3].position = -0.2; 00162 goalB.motion_plan_request.goal_constraints.joint_constraints[5].position = -0.20; 00163 00164 goalA.motion_plan_request.planner_id = ""; 00165 goalA.planner_service_name ="ompl_planning/plan_kinematic_path"; 00166 00167 goalA.motion_plan_request.group_name = "right_arm"; 00168 goalA.motion_plan_request.num_planning_attempts = 1; 00169 goalA.motion_plan_request.allowed_planning_time = ros::Duration(5.0); 00170 goalA.motion_plan_request.goal_constraints.position_constraints.resize(1); 00171 goalA.motion_plan_request.goal_constraints.position_constraints[0].header.stamp = ros::Time::now(); 00172 goalA.motion_plan_request.goal_constraints.position_constraints[0].header.frame_id = "base_link"; 00173 00174 goalA.motion_plan_request.goal_constraints.position_constraints[0].link_name = "r_wrist_roll_link"; 00175 goalA.motion_plan_request.goal_constraints.position_constraints[0].position.x = 0.6; 00176 goalA.motion_plan_request.goal_constraints.position_constraints[0].position.y = 0; 00177 goalA.motion_plan_request.goal_constraints.position_constraints[0].position.z = .35; 00178 00179 goalA.motion_plan_request.goal_constraints.position_constraints[0].constraint_region_shape.type = arm_navigation_msgs::Shape::BOX; 00180 goalA.motion_plan_request.goal_constraints.position_constraints[0].constraint_region_shape.dimensions.push_back(0.02); 00181 goalA.motion_plan_request.goal_constraints.position_constraints[0].constraint_region_shape.dimensions.push_back(0.02); 00182 goalA.motion_plan_request.goal_constraints.position_constraints[0].constraint_region_shape.dimensions.push_back(0.02); 00183 00184 goalA.motion_plan_request.goal_constraints.position_constraints[0].constraint_region_orientation.w = 1.0; 00185 00186 goalA.motion_plan_request.goal_constraints.position_constraints[0].weight = 1.0; 00187 00188 goalA.motion_plan_request.goal_constraints.orientation_constraints.resize(1); 00189 goalA.motion_plan_request.goal_constraints.orientation_constraints[0].header.stamp = ros::Time::now(); 00190 goalA.motion_plan_request.goal_constraints.orientation_constraints[0].header.frame_id = "base_link"; 00191 goalA.motion_plan_request.goal_constraints.orientation_constraints[0].link_name = "r_wrist_roll_link"; 00192 goalA.motion_plan_request.goal_constraints.orientation_constraints[0].orientation.x = 0.0; 00193 goalA.motion_plan_request.goal_constraints.orientation_constraints[0].orientation.y = 0.0; 00194 goalA.motion_plan_request.goal_constraints.orientation_constraints[0].orientation.z = 0.0; 00195 goalA.motion_plan_request.goal_constraints.orientation_constraints[0].orientation.w = 1.0; 00196 00197 goalA.motion_plan_request.goal_constraints.orientation_constraints[0].absolute_roll_tolerance = 0.04; 00198 goalA.motion_plan_request.goal_constraints.orientation_constraints[0].absolute_pitch_tolerance = 0.04; 00199 goalA.motion_plan_request.goal_constraints.orientation_constraints[0].absolute_yaw_tolerance = 0.04; 00200 00201 goalA.motion_plan_request.goal_constraints.orientation_constraints[0].weight = 1.0; 00202 00203 //move arm should send the pose constraint straight to the planner 00204 goalA.disable_ik = true; 00205 00206 for(unsigned int i = 0; i < REPS_TO_TRY; i++) { 00207 00208 if (nh.ok()) 00209 { 00210 bool finished_within_time = false; 00211 move_arm.sendGoal(goalA); 00212 finished_within_time = move_arm.waitForResult(ros::Duration(200.0)); 00213 EXPECT_TRUE(finished_within_time); 00214 if (!finished_within_time) 00215 { 00216 move_arm.cancelGoal(); 00217 ROS_INFO("Timed out achieving goal A"); 00218 } 00219 else 00220 { 00221 actionlib::SimpleClientGoalState state = move_arm.getState(); 00222 bool success = (state == actionlib::SimpleClientGoalState::SUCCEEDED); 00223 EXPECT_TRUE(success); 00224 ROS_INFO("Action finished: %s",state.toString().c_str()); 00225 EXPECT_TRUE(state == actionlib::SimpleClientGoalState::SUCCEEDED); 00226 } 00227 } 00228 00229 if (nh.ok()) 00230 { 00231 bool finished_within_time = false; 00232 move_arm.sendGoal(goalB); 00233 finished_within_time = move_arm.waitForResult(ros::Duration(100.0)); 00234 EXPECT_TRUE(finished_within_time); 00235 if (!finished_within_time) 00236 { 00237 move_arm.cancelAllGoals(); 00238 ROS_INFO("Timed out achieving goal B"); 00239 } 00240 else 00241 { 00242 actionlib::SimpleClientGoalState state = move_arm.getState(); 00243 bool success = (state == actionlib::SimpleClientGoalState::SUCCEEDED); 00244 EXPECT_TRUE(success); 00245 ROS_INFO("Action finished: %s",state.toString().c_str()); 00246 EXPECT_TRUE(state == actionlib::SimpleClientGoalState::SUCCEEDED); 00247 } 00248 } 00249 } 00250 ros::shutdown(); 00251 spin_thread.join(); 00252 } 00253 00254 int main(int argc, char **argv){ 00255 testing::InitGoogleTest(&argc, argv); 00256 ros::init (argc, argv, "move_arm_regression_test"); 00257 return RUN_ALL_TESTS(); 00258 }