move_arm: regression_test_pose_goal.cpp Source File

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