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


move_arm_warehouse
Author(s): Ioan Sucan, Sachin Chitta(sachinc@willowgarage.com)
autogenerated on Thu Dec 12 2013 11:09:11