test_dual_arm_plan.cpp

Go to the documentation of this file.

/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2011, Willow Garage, Inc.
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Willow Garage nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/

/* Author: Ioan Sucan */

#include <gtest/gtest.h>
#include <planning_scene_monitor/planning_scene_monitor.h>
#include <ompl_interface_ros/ompl_interface_ros.h>
#include <moveit_msgs/GetMotionPlan.h>
#include <moveit_msgs/DisplayTrajectory.h>
#include <kinematic_constraints/utils.h>

static const std::string PLANNER_SERVICE_NAME="/ompl_planning/plan_kinematic_path";
static const std::string ROBOT_DESCRIPTION="robot_description";

TEST(OmplPlanning, SimplePlan)
{
    ros::NodeHandle nh;
    ros::service::waitForService(PLANNER_SERVICE_NAME);
    ros::Publisher pub = nh.advertise<moveit_msgs::DisplayTrajectory>("display_motion_plan", 1);

    ros::ServiceClient planning_service_client = nh.serviceClient<moveit_msgs::GetMotionPlan>(PLANNER_SERVICE_NAME);
    EXPECT_TRUE(planning_service_client.exists());
    EXPECT_TRUE(planning_service_client.isValid());

    moveit_msgs::GetMotionPlan::Request mplan_req;
    moveit_msgs::GetMotionPlan::Response mplan_res;

    planning_scene_monitor::PlanningSceneMonitor psm(ROBOT_DESCRIPTION);
    planning_scene::PlanningScene &scene = *psm.getPlanningScene();
    EXPECT_TRUE(scene.isConfigured());

    mplan_req.motion_plan_request.group_name = "arms";
    mplan_req.motion_plan_request.num_planning_attempts = 1;
    mplan_req.motion_plan_request.allowed_planning_time = ros::Duration(5.0);

    geometry_msgs::PoseStamped pose;
    pose.header.frame_id = scene.getRobotModel()->getModelFrame();
    pose.pose.position.x = 0.55;
    pose.pose.position.y = 0.2;
    pose.pose.position.z = 1.25;
    pose.pose.orientation.x = 0.0;
    pose.pose.orientation.y = 0.0;
    pose.pose.orientation.z = 0.0;
    pose.pose.orientation.w = 1.0;
    moveit_msgs::Constraints g0 = kinematic_constraints::constructGoalConstraints("l_wrist_roll_link", pose);


    pose.pose.position.x = 0.35;
    pose.pose.position.y = -0.6;
    pose.pose.position.z = 1.25;
    pose.pose.orientation.x = 0.0;
    pose.pose.orientation.y = 0.0;
    pose.pose.orientation.z = 0.0;
    pose.pose.orientation.w = 1.0;
    moveit_msgs::Constraints g1 = kinematic_constraints::constructGoalConstraints("r_wrist_roll_link", pose);

    mplan_req.motion_plan_request.goal_constraints.resize(1);
    mplan_req.motion_plan_request.goal_constraints[0] = kinematic_constraints::mergeConstraints(g1, g0);

    ASSERT_TRUE(planning_service_client.call(mplan_req, mplan_res));
    ASSERT_EQ(mplan_res.error_code.val, mplan_res.error_code.SUCCESS);
    EXPECT_GT(mplan_res.trajectory.joint_trajectory.points.size(), 0);

    moveit_msgs::DisplayTrajectory d;
    d.model_id = scene.getRobotModel()->getName();
    d.trajectory_start = mplan_res.trajectory_start;
    d.trajectory = mplan_res.trajectory;
    pub.publish(d);
    ros::Duration(0.5).sleep();
}

int main(int argc, char **argv)
{
  testing::InitGoogleTest(&argc, argv);

  ros::init(argc, argv, "test_ompl_planning", ros::init_options::AnonymousName);
  ros::AsyncSpinner spinner(1);
  spinner.start();

  return RUN_ALL_TESTS();
}