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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 typedef actionlib::SimpleActionClient<arm_navigation_msgs::MoveArmAction> MoveArmClient; 00053 00054 unsigned int REPS_TO_TRY = 10; 00055 00056 00057 void spinThread() 00058 { 00059 ros::spin(); 00060 } 00061 00062 TEST(MoveArm, goToPoseGoal) 00063 { 00064 00065 ros::NodeHandle nh; 00066 ros::NodeHandle private_handle("~"); 00067 00068 ros::Publisher object_in_map_pub_; 00069 object_in_map_pub_ = nh.advertise<arm_navigation_msgs::CollisionObject>("collision_object", 10); 00070 00071 actionlib::SimpleActionClient<arm_navigation_msgs::MoveArmAction> move_arm(nh, "move_right_arm"); 00072 00073 boost::thread spin_thread(&spinThread); 00074 00075 move_arm.waitForServer(); 00076 ROS_INFO("Connected to servers"); 00077 00078 //push the table and legs into the collision space 00079 arm_navigation_msgs::CollisionObject table_object; 00080 table_object.operation.operation = arm_navigation_msgs::CollisionObjectOperation::ADD; 00081 table_object.header.frame_id = "base_link"; 00082 table_object.header.stamp = ros::Time::now(); 00083 arm_navigation_msgs::Shape object; 00084 object.type = arm_navigation_msgs::Shape::BOX; 00085 object.dimensions.resize(3); 00086 object.dimensions[0] = 1.0; 00087 object.dimensions[1] = 1.0; 00088 object.dimensions[2] = 0.05; 00089 geometry_msgs::Pose pose; 00090 pose.position.x = 1.0; 00091 pose.position.y = 0; 00092 pose.position.z = .5; 00093 pose.orientation.x = 0; 00094 pose.orientation.y = 0; 00095 pose.orientation.z = 0; 00096 pose.orientation.w = 1; 00097 table_object.shapes.push_back(object); 00098 table_object.poses.push_back(pose); 00099 00100 table_object.id = "table"; 00101 //object_in_map_pub_.publish(table_object); 00102 00103 // arm_navigation_msgs::CollisionObject leg_object; 00104 // leg_object.operation.operation = arm_navigation_msgs::CollisionObjectOperation::ADD; 00105 // leg_object.header.frame_id = "base_link"; 00106 // leg_object.header.stamp = ros::Time::now(); 00107 arm_navigation_msgs::Shape l_object; 00108 l_object.type = arm_navigation_msgs::Shape::BOX; 00109 l_object.dimensions.resize(3); 00110 l_object.dimensions[0] = 0.05; 00111 l_object.dimensions[1] = 0.05; 00112 l_object.dimensions[2] = 0.5; 00113 geometry_msgs::Pose l_pose; 00114 l_pose.position.x = .5; 00115 l_pose.position.y = .5; 00116 l_pose.position.z = .25; 00117 l_pose.orientation.x = 0; 00118 l_pose.orientation.y = 0; 00119 l_pose.orientation.z = 0; 00120 l_pose.orientation.w = 1; 00121 table_object.shapes.push_back(l_object); 00122 table_object.poses.push_back(l_pose); 00123 l_pose.position.x = .5; 00124 l_pose.position.y = -.5; 00125 l_pose.position.z = .25; 00126 table_object.shapes.push_back(l_object); 00127 table_object.poses.push_back(l_pose); 00128 //leg_object.id = "legs"; 00129 object_in_map_pub_.publish(table_object); 00130 00131 ros::Duration(5.0).sleep(); 00132 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 arm_navigation_msgs::MoveArmGoal goalA, goalB; 00143 goalB.motion_plan_request.group_name = "right_arm"; 00144 goalB.motion_plan_request.num_planning_attempts = 1; 00145 goalB.motion_plan_request.allowed_planning_time = ros::Duration(50.0); 00146 00147 private_handle.param<std::string>("planner_id",goalB.motion_plan_request.planner_id,std::string("")); 00148 private_handle.param<std::string>("planner_service_name",goalB.planner_service_name,std::string("/ompl_planning/plan_kinematic_path")); 00149 00150 goalB.motion_plan_request.goal_constraints.joint_constraints.resize(names.size()); 00151 for (unsigned int i = 0 ; i < goalB.motion_plan_request.goal_constraints.joint_constraints.size(); ++i) 00152 { 00153 goalB.motion_plan_request.goal_constraints.joint_constraints[i].joint_name = names[i]; 00154 goalB.motion_plan_request.goal_constraints.joint_constraints[i].position = 0.0; 00155 goalB.motion_plan_request.goal_constraints.joint_constraints[i].tolerance_below = 0.1; 00156 goalB.motion_plan_request.goal_constraints.joint_constraints[i].tolerance_above = 0.1; 00157 } 00158 00159 goalB.motion_plan_request.goal_constraints.joint_constraints[0].position = -1.5; 00160 goalB.motion_plan_request.goal_constraints.joint_constraints[3].position = -0.2; 00161 goalB.motion_plan_request.goal_constraints.joint_constraints[5].position = -0.20; 00162 00163 goalA.motion_plan_request.planner_id = ""; 00164 00165 private_handle.param<std::string>("planner_id",goalA.motion_plan_request.planner_id,std::string("")); 00166 private_handle.param<std::string>("planner_service_name",goalA.planner_service_name,std::string("/ompl_planning/plan_kinematic_path")); 00167 00168 goalA.motion_plan_request.group_name = "right_arm"; 00169 goalA.motion_plan_request.num_planning_attempts = 1; 00170 goalA.motion_plan_request.allowed_planning_time = ros::Duration(50.0); 00171 goalA.motion_plan_request.goal_constraints.position_constraints.resize(1); 00172 goalA.motion_plan_request.goal_constraints.position_constraints[0].header.stamp = ros::Time::now(); 00173 goalA.motion_plan_request.goal_constraints.position_constraints[0].header.frame_id = "base_link"; 00174 00175 goalA.motion_plan_request.goal_constraints.position_constraints[0].link_name = "r_wrist_roll_link"; 00176 goalA.motion_plan_request.goal_constraints.position_constraints[0].position.x = 0.6; 00177 goalA.motion_plan_request.goal_constraints.position_constraints[0].position.y = 0; 00178 goalA.motion_plan_request.goal_constraints.position_constraints[0].position.z = .35; 00179 00180 goalA.motion_plan_request.goal_constraints.position_constraints[0].constraint_region_shape.type = arm_navigation_msgs::Shape::BOX; 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 goalA.motion_plan_request.goal_constraints.position_constraints[0].constraint_region_shape.dimensions.push_back(0.02); 00184 00185 goalA.motion_plan_request.goal_constraints.position_constraints[0].constraint_region_orientation.w = 1.0; 00186 00187 goalA.motion_plan_request.goal_constraints.position_constraints[0].weight = 1.0; 00188 00189 goalA.motion_plan_request.goal_constraints.orientation_constraints.resize(1); 00190 goalA.motion_plan_request.goal_constraints.orientation_constraints[0].header.stamp = ros::Time::now(); 00191 goalA.motion_plan_request.goal_constraints.orientation_constraints[0].header.frame_id = "base_link"; 00192 goalA.motion_plan_request.goal_constraints.orientation_constraints[0].link_name = "r_wrist_roll_link"; 00193 goalA.motion_plan_request.goal_constraints.orientation_constraints[0].orientation.x = 0.0; 00194 goalA.motion_plan_request.goal_constraints.orientation_constraints[0].orientation.y = 0.0; 00195 goalA.motion_plan_request.goal_constraints.orientation_constraints[0].orientation.z = 0.0; 00196 goalA.motion_plan_request.goal_constraints.orientation_constraints[0].orientation.w = 1.0; 00197 00198 goalA.motion_plan_request.goal_constraints.orientation_constraints[0].absolute_roll_tolerance = 3.14; 00199 goalA.motion_plan_request.goal_constraints.orientation_constraints[0].absolute_pitch_tolerance = 3.14; 00200 goalA.motion_plan_request.goal_constraints.orientation_constraints[0].absolute_yaw_tolerance = 3.14; 00201 00202 goalA.motion_plan_request.goal_constraints.orientation_constraints[0].weight = 1.0; 00203 00204 for(unsigned int i = 0; i < REPS_TO_TRY; i++) { 00205 00206 if (nh.ok()) 00207 { 00208 bool finished_within_time = false; 00209 move_arm.sendGoal(goalA); 00210 finished_within_time = move_arm.waitForResult(ros::Duration(200.0)); 00211 EXPECT_TRUE(finished_within_time); 00212 if (!finished_within_time) 00213 { 00214 move_arm.cancelGoal(); 00215 ROS_INFO("Timed out achieving goal A"); 00216 } 00217 else 00218 { 00219 actionlib::SimpleClientGoalState state = move_arm.getState(); 00220 bool success = (state == actionlib::SimpleClientGoalState::SUCCEEDED); 00221 ASSERT_TRUE(success); 00222 ROS_INFO("Action finished: %s",state.toString().c_str()); 00223 ASSERT_TRUE(state == actionlib::SimpleClientGoalState::SUCCEEDED); 00224 } 00225 } 00226 00227 if (nh.ok()) 00228 { 00229 bool finished_within_time = false; 00230 move_arm.sendGoal(goalB); 00231 finished_within_time = move_arm.waitForResult(ros::Duration(100.0)); 00232 EXPECT_TRUE(finished_within_time); 00233 if (!finished_within_time) 00234 { 00235 move_arm.cancelAllGoals(); 00236 ROS_INFO("Timed out achieving goal B"); 00237 } 00238 else 00239 { 00240 actionlib::SimpleClientGoalState state = move_arm.getState(); 00241 bool success = (state == actionlib::SimpleClientGoalState::SUCCEEDED); 00242 ASSERT_TRUE(success); 00243 ROS_INFO("Action finished: %s",state.toString().c_str()); 00244 ASSERT_TRUE(state == actionlib::SimpleClientGoalState::SUCCEEDED); 00245 } 00246 } 00247 } 00248 ros::shutdown(); 00249 spin_thread.join(); 00250 } 00251 00252 int main(int argc, char **argv){ 00253 testing::InitGoogleTest(&argc, argv); 00254 ros::init (argc, argv, "move_arm_regression_test"); 00255 return RUN_ALL_TESTS(); 00256 }