regression_test_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   goalB.motion_plan_request.num_planning_attempts = 1;
00076   goalB.motion_plan_request.allowed_planning_time = ros::Duration(5.0);
00077 
00078   private_handle.param<std::string>("planner_id",goalB.motion_plan_request.planner_id,std::string("chomp_planner_longrange"));
00079   private_handle.param<std::string>("planner_service_name",goalB.planner_service_name,std::string("/chomp_planner_longrange/plan_path"));
00080     
00081   goalB.motion_plan_request.goal_constraints.joint_constraints.resize(names.size());
00082   for (unsigned int i = 0 ; i < goalB.motion_plan_request.goal_constraints.joint_constraints.size(); ++i)
00083   {
00084     // goalB.motion_plan_request.goal_constraints.joint_constraints[i].header.stamp = ros::Time::now();
00085     // goalB.motion_plan_request.goal_constraints.joint_constraints[i].header.frame_id = "base_link";
00086     goalB.motion_plan_request.goal_constraints.joint_constraints[i].joint_name = names[i];
00087     goalB.motion_plan_request.goal_constraints.joint_constraints[i].position = 0.0;
00088     goalB.motion_plan_request.goal_constraints.joint_constraints[i].tolerance_below = 0.1;
00089     goalB.motion_plan_request.goal_constraints.joint_constraints[i].tolerance_above = 0.1;
00090   }
00091     
00092   goalB.motion_plan_request.goal_constraints.joint_constraints[0].position = -2.0;
00093   goalB.motion_plan_request.goal_constraints.joint_constraints[3].position = -0.2;
00094   goalB.motion_plan_request.goal_constraints.joint_constraints[5].position = -0.20;
00095    
00096   int num_test_attempts = 0;
00097   int max_attempts = 5;
00098   bool success = false;
00099   while (nh.ok())
00100   {
00101     bool finished_within_time = false;
00102     move_arm.sendGoal(goalB);
00103     finished_within_time = move_arm.waitForResult(ros::Duration(200.0));
00104     actionlib::SimpleClientGoalState state = move_arm.getState();
00105     success = (state == actionlib::SimpleClientGoalState::SUCCEEDED);
00106     if ((!finished_within_time || !success) && num_test_attempts < max_attempts)
00107     {
00108       move_arm.cancelGoal();
00109       ROS_INFO("Timed out achieving goal A");
00110       num_test_attempts++;
00111     }
00112     else
00113     {
00114       if(!success)
00115       {
00116         ROS_INFO("Action finished: %s",state.toString().c_str());
00117         move_arm.cancelGoal();
00118       }
00119       ROS_INFO("Action finished: %s",state.toString().c_str());
00120       break;
00121     }
00122   }
00123   EXPECT_TRUE(success);
00124   ros::shutdown();
00125   spin_thread.join();
00126 }
00127 
00128 int main(int argc, char **argv){
00129   testing::InitGoogleTest(&argc, argv);
00130   ros::init (argc, argv, "move_arm_regression_test");
00131   return RUN_ALL_TESTS();
00132 }


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