regression_test_pose_goal_param.cpp

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/* \author: Ioan Sucan, Sachin Chitta */

#include <ros/ros.h>
#include <actionlib/client/simple_action_client.h>
#include <move_arm_msgs/MoveArmAction.h>

#include <geometry_msgs/Quaternion.h>
#include <tf/tf.h>

#include <stdio.h>
#include <stdlib.h>
#include <time.h>
#include <boost/thread.hpp>
#include <ros/ros.h>
#include <gtest/gtest.h>

#include <arm_navigation_tests/arm_navigation_utils.h>

typedef actionlib::SimpleActionClient<move_arm_msgs::MoveArmAction> MoveArmClient;

void spinThread()
{
  ros::spin();
}

TEST(MoveArm, goToPoseGoal)
{
  ros::NodeHandle nh;
  ros::NodeHandle private_handle("~");
  actionlib::SimpleActionClient<move_arm_msgs::MoveArmAction> move_arm(nh, "move_right_arm");
  boost::thread spin_thread(&spinThread);

  move_arm.waitForServer();

  arm_navigation_utils::ArmNavigationUtils arm_nav_utils;
  EXPECT_TRUE(arm_nav_utils.takeStaticMap());

  ROS_INFO("Connected to server");
  move_arm_msgs::MoveArmGoal goalA;

  goalA.motion_plan_request.group_name = "right_arm";
  goalA.motion_plan_request.num_planning_attempts = 1;
  private_handle.param<std::string>("planner_id",goalA.motion_plan_request.planner_id,std::string("chomp_planner_longrange"));
  private_handle.param<std::string>("planner_service_name",goalA.planner_service_name,std::string("/chomp_planner_longrange/plan_path"));

  double goal_x, goal_y, goal_z, goal_roll, goal_pitch, goal_yaw;
  private_handle.param<double>("goal_x",goal_x,0.75);
  private_handle.param<double>("goal_y",goal_y,-0.188);
  private_handle.param<double>("goal_z",goal_z,0.0);

  private_handle.param<double>("goal_roll",goal_roll,0.0);
  private_handle.param<double>("goal_pitch",goal_pitch,0.0);
  private_handle.param<double>("goal_yaw",goal_yaw,0.0);

  btQuaternion gripper_goal;
  geometry_msgs::Quaternion gripper_goal_msg;
  gripper_goal.setRPY(goal_roll,goal_pitch,goal_yaw);
  tf::quaternionTFToMsg(gripper_goal,gripper_goal_msg);

  goalA.motion_plan_request.allowed_planning_time = ros::Duration(5.0);
    
  goalA.motion_plan_request.goal_constraints.position_constraints.resize(1);
  goalA.motion_plan_request.goal_constraints.position_constraints[0].header.stamp = ros::Time::now();
  goalA.motion_plan_request.goal_constraints.position_constraints[0].header.frame_id = "torso_lift_link";
    
  goalA.motion_plan_request.goal_constraints.position_constraints[0].link_name = "r_wrist_roll_link";
  goalA.motion_plan_request.goal_constraints.position_constraints[0].position.x = goal_x;
  goalA.motion_plan_request.goal_constraints.position_constraints[0].position.y = goal_y;
  goalA.motion_plan_request.goal_constraints.position_constraints[0].position.z = goal_z;

  goalA.motion_plan_request.goal_constraints.position_constraints[0].constraint_region_shape.type = geometric_shapes_msgs::Shape::BOX;
  goalA.motion_plan_request.goal_constraints.position_constraints[0].constraint_region_shape.dimensions.push_back(0.02);
  goalA.motion_plan_request.goal_constraints.position_constraints[0].constraint_region_shape.dimensions.push_back(0.02);
  goalA.motion_plan_request.goal_constraints.position_constraints[0].constraint_region_shape.dimensions.push_back(0.02);

  goalA.motion_plan_request.goal_constraints.position_constraints[0].constraint_region_orientation.w = 1.0;

  goalA.motion_plan_request.goal_constraints.position_constraints[0].weight = 1.0;

  goalA.motion_plan_request.goal_constraints.orientation_constraints.resize(1);
  goalA.motion_plan_request.goal_constraints.orientation_constraints[0].header.stamp = ros::Time::now();
  goalA.motion_plan_request.goal_constraints.orientation_constraints[0].header.frame_id = "torso_lift_link";    
  goalA.motion_plan_request.goal_constraints.orientation_constraints[0].link_name = "r_wrist_roll_link";
  goalA.motion_plan_request.goal_constraints.orientation_constraints[0].orientation.x = gripper_goal_msg.x;
  goalA.motion_plan_request.goal_constraints.orientation_constraints[0].orientation.y = gripper_goal_msg.y;
  goalA.motion_plan_request.goal_constraints.orientation_constraints[0].orientation.z = gripper_goal_msg.z;
  goalA.motion_plan_request.goal_constraints.orientation_constraints[0].orientation.w = gripper_goal_msg.w;
    
  goalA.motion_plan_request.goal_constraints.orientation_constraints[0].absolute_roll_tolerance = 0.04;
  goalA.motion_plan_request.goal_constraints.orientation_constraints[0].absolute_pitch_tolerance = 0.04;
  goalA.motion_plan_request.goal_constraints.orientation_constraints[0].absolute_yaw_tolerance = 0.04;

  goalA.motion_plan_request.goal_constraints.orientation_constraints[0].weight = 1.0;

  /*   
  // These are in here just for reference
  std::vector<std::string> names(7);
  names[0] = "r_shoulder_pan_joint";
  names[1] = "r_shoulder_lift_joint";
  names[2] = "r_upper_arm_roll_joint";
  names[3] = "r_elbow_flex_joint";
  names[4] = "r_forearm_roll_joint";
  names[5] = "r_wrist_flex_joint";
  names[6] = "r_wrist_roll_joint";
  */

  int num_test_attempts = 0;
  int max_attempts = 5;
  bool success = false;
  while (nh.ok())
  {
    bool finished_within_time = false;
    move_arm.sendGoal(goalA);
    finished_within_time = move_arm.waitForResult(ros::Duration(100.0));
    actionlib::SimpleClientGoalState state = move_arm.getState();
    success = (state == actionlib::SimpleClientGoalState::SUCCEEDED);
    if ((!finished_within_time || !success) && num_test_attempts < max_attempts)
    {
      move_arm.cancelGoal();
      ROS_INFO("Timed out achieving goal A, trying again. Trying again, attempt: %d",num_test_attempts);
      num_test_attempts++;
    }
    else
    {
      if(!success)
      {
        ROS_INFO("Action finished %s",state.toString().c_str());
        move_arm.cancelGoal();
      }
      ROS_INFO("Action finished: %s",state.toString().c_str());
      break;
    }
  }
  EXPECT_TRUE(success);
  ros::shutdown();
  spin_thread.join();
}

int main(int argc, char **argv){
  testing::InitGoogleTest(&argc, argv);
  ros::init (argc, argv, "move_arm_regression_test");
  return RUN_ALL_TESTS();
}