regression_test_invalid_joint_goal.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 <stdio.h>
00044 #include <stdlib.h>
00045 #include <time.h>
00046 #include <ros/ros.h>
00047 #include <gtest/gtest.h>
00048 
00049 void spinThread()
00050 {
00051   ros::spin();
00052 }
00053 
00054 TEST(MoveArm, goToJointGoal)
00055 {
00056   ros::NodeHandle nh;
00057   ros::NodeHandle private_handle("~");
00058   actionlib::SimpleActionClient<arm_navigation_msgs::MoveArmAction> move_arm(nh, "move_right_arm");
00059   boost::thread spin_thread(&spinThread);
00060 
00061   move_arm.waitForServer();
00062   ROS_INFO("Connected to server");
00063   
00064   arm_navigation_msgs::MoveArmGoal goalB;
00065   std::vector<std::string> names(7);
00066   names[0] = "r_shoulder_pan_joint";
00067   names[1] = "r_shoulder_lift_joint";
00068   names[2] = "r_upper_arm_roll_joint";
00069   names[3] = "r_elbow_flex_joint";
00070   names[4] = "r_forearm_roll_joint";
00071   names[5] = "r_wrist_flex_joint";
00072   names[6] = "r_wrist_roll_joint";
00073 
00074   goalB.motion_plan_request.group_name = "right_arm";
00075   private_handle.param<std::string>("planner_id",goalB.motion_plan_request.planner_id,std::string("chomp_planner_longrange"));
00076   private_handle.param<std::string>("planner_service_name",goalB.planner_service_name,std::string("/chomp_planner_longrange/plan_path"));
00077     
00078   goalB.motion_plan_request.goal_constraints.joint_constraints.resize(names.size());
00079   for (unsigned int i = 0 ; i < goalB.motion_plan_request.goal_constraints.joint_constraints.size(); ++i)
00080     {
00081       //      goalB.motion_plan_request.goal_constraints.joint_constraints[i].header.stamp = ros::Time::now();
00082       //      goalB.motion_plan_request.goal_constraints.joint_constraints[i].header.frame_id = "base_link";
00083       goalB.motion_plan_request.goal_constraints.joint_constraints[i].joint_name = names[i];
00084       goalB.motion_plan_request.goal_constraints.joint_constraints[i].position = 0.0;
00085       goalB.motion_plan_request.goal_constraints.joint_constraints[i].tolerance_below = 0.1;
00086       goalB.motion_plan_request.goal_constraints.joint_constraints[i].tolerance_above = 0.1;
00087     }
00088     
00089   goalB.motion_plan_request.goal_constraints.joint_constraints[0].position = -2.0;
00090   goalB.motion_plan_request.goal_constraints.joint_constraints[3].position = -0.2;
00091   goalB.motion_plan_request.goal_constraints.joint_constraints[5].position = 0.15;
00092    
00093   if (nh.ok())
00094     {
00095       bool finished_within_time = false;
00096       move_arm.sendGoal(goalB);
00097       finished_within_time = move_arm.waitForResult(ros::Duration(10.0));
00098       actionlib::SimpleClientGoalState state = move_arm.getState();
00099       bool success = (state == actionlib::SimpleClientGoalState::ABORTED);
00100       EXPECT_TRUE(success);
00101       ROS_INFO("Action finished: %s",state.toString().c_str());
00102     }
00103   ros::shutdown();
00104   spin_thread.join();
00105 }
00106 
00107 int main(int argc, char **argv){
00108   testing::InitGoogleTest(&argc, argv);
00109   ros::init (argc, argv, "move_arm_regression_test");
00110   return RUN_ALL_TESTS();
00111 }


move_arm
Author(s): Ioan Sucan, Sachin Chitta(sachinc@willowgarage.com)
autogenerated on Mon Dec 2 2013 12:35:17