test_execution_manager.cpp
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34 
35 /* Author: Ioan Sucan, Cristian C. Beltran
36  Desc: Test the TrajectoryExecutionManager with MoveitCpp
37 */
38 
39 // ROS
40 #include <ros/ros.h>
41 
42 // Testing
43 #include <gtest/gtest.h>
44 
45 // Main class
48 // Msgs
49 #include <geometry_msgs/PointStamped.h>
50 
51 namespace moveit_cpp
52 {
53 class MoveItCppTest : public ::testing::Test
54 {
55 public:
56  void SetUp() override
57  {
58  nh_ = ros::NodeHandle();
59  moveit_cpp_ptr = std::make_shared<MoveItCpp>(nh_);
60  trajectory_execution_manager_ptr = moveit_cpp_ptr->getTrajectoryExecutionManagerNonConst();
61 
62  traj1.joint_trajectory.joint_names.push_back("panda_joint1");
63  traj1.joint_trajectory.points.resize(2);
64  traj1.joint_trajectory.points[0].positions.push_back(0.0);
65  traj1.joint_trajectory.points[1].positions.push_back(0.5);
66  traj1.joint_trajectory.points[1].time_from_start.fromSec(0.5);
67 
68  traj2 = traj1;
69  traj2.joint_trajectory.joint_names.push_back("panda_joint2");
70  traj2.joint_trajectory.points[0].positions.push_back(1.0);
71  traj2.joint_trajectory.points[1].positions.push_back(1.5);
72  traj2.multi_dof_joint_trajectory.joint_names.push_back("panda_joint3");
73  traj2.multi_dof_joint_trajectory.points.resize(2);
74  traj2.multi_dof_joint_trajectory.points[0].transforms.resize(1);
75  traj2.multi_dof_joint_trajectory.points[1].transforms.resize(1);
76 
77  ros::param::del("~/trajectory_execution/joints_allowed_start_tolerance");
78  }
79 
80 protected:
82  MoveItCppPtr moveit_cpp_ptr;
83  PlanningComponentPtr planning_component_ptr;
84  trajectory_execution_manager::TrajectoryExecutionManagerPtr trajectory_execution_manager_ptr;
85  moveit_msgs::RobotTrajectory traj1;
86  moveit_msgs::RobotTrajectory traj2;
87 };
88 
89 TEST_F(MoveItCppTest, EnsureActiveControllersForJointsTest)
90 {
91  ASSERT_TRUE(trajectory_execution_manager_ptr->ensureActiveControllersForJoints({ "panda_joint1" }));
92 }
93 
94 TEST_F(MoveItCppTest, ensureActiveControllerTest)
95 {
96  ASSERT_TRUE(trajectory_execution_manager_ptr->ensureActiveController("fake_panda_arm_controller"));
97 }
98 
99 TEST_F(MoveItCppTest, ExecuteEmptySetOfTrajectoriesTest)
100 {
101  // execute with empty set of trajectories
102  trajectory_execution_manager_ptr->execute();
103  auto last_execution_status = trajectory_execution_manager_ptr->waitForExecution();
104  ASSERT_EQ(last_execution_status, moveit_controller_manager::ExecutionStatus::SUCCEEDED);
105 }
106 
107 TEST_F(MoveItCppTest, PushExecuteAndWaitTest)
108 {
109  ASSERT_TRUE(trajectory_execution_manager_ptr->push(traj1));
110  ASSERT_TRUE(trajectory_execution_manager_ptr->push(traj2));
111  traj1.multi_dof_joint_trajectory = traj2.multi_dof_joint_trajectory;
112  ASSERT_TRUE(trajectory_execution_manager_ptr->push(traj1));
113  auto last_execution_status = trajectory_execution_manager_ptr->executeAndWait();
114  ASSERT_EQ(last_execution_status, moveit_controller_manager::ExecutionStatus::SUCCEEDED);
115 }
116 
117 TEST_F(MoveItCppTest, RejectTooFarFromStart)
118 {
119  moveit_msgs::RobotTrajectory traj = traj1;
120  traj.joint_trajectory.points[0].positions[0] = 0.3;
121 
122  trajectory_execution_manager_ptr->setAllowedStartTolerance(0.01);
123  ASSERT_TRUE(trajectory_execution_manager_ptr->push(traj));
124  auto last_execution_status = trajectory_execution_manager_ptr->executeAndWait();
125  ASSERT_EQ(last_execution_status, moveit_controller_manager::ExecutionStatus::ABORTED);
126 }
127 
128 TEST_F(MoveItCppTest, AcceptAllowedJointStartTolerance)
129 {
130  moveit_msgs::RobotTrajectory traj = traj1;
131  traj.joint_trajectory.points[0].positions[0] = 0.3;
132 
133  trajectory_execution_manager_ptr->setAllowedStartTolerance(0.01);
134  ros::param::set("~/trajectory_execution/joints_allowed_start_tolerance/panda_joint1", 0.5);
135  ASSERT_TRUE(trajectory_execution_manager_ptr->push(traj));
136  auto last_execution_status = trajectory_execution_manager_ptr->executeAndWait();
137  ASSERT_EQ(last_execution_status, moveit_controller_manager::ExecutionStatus::SUCCEEDED);
138 }
139 
140 TEST_F(MoveItCppTest, DoNotValidateJointStartToleranceZero)
141 {
142  moveit_msgs::RobotTrajectory traj = traj1;
143  traj.joint_trajectory.points[0].positions[0] = 0.3;
144 
145  trajectory_execution_manager_ptr->setAllowedStartTolerance(0);
146  ASSERT_TRUE(trajectory_execution_manager_ptr->push(traj));
147  auto last_execution_status = trajectory_execution_manager_ptr->executeAndWait();
148  ASSERT_EQ(last_execution_status, moveit_controller_manager::ExecutionStatus::SUCCEEDED);
149 
150  trajectory_execution_manager_ptr->setAllowedStartTolerance(0.1);
151  ASSERT_TRUE(trajectory_execution_manager_ptr->push(traj));
152  last_execution_status = trajectory_execution_manager_ptr->executeAndWait();
153  ASSERT_EQ(last_execution_status, moveit_controller_manager::ExecutionStatus::ABORTED);
154 
155  ros::param::set("~/trajectory_execution/joints_allowed_start_tolerance/panda_joint1", 0);
156  ASSERT_TRUE(trajectory_execution_manager_ptr->push(traj));
157  last_execution_status = trajectory_execution_manager_ptr->executeAndWait();
158  ASSERT_EQ(last_execution_status, moveit_controller_manager::ExecutionStatus::SUCCEEDED);
159 }
160 
161 } // namespace moveit_cpp
162 
163 int main(int argc, char** argv)
164 {
165  testing::InitGoogleTest(&argc, argv);
166  ros::init(argc, argv, "test_execution_manager");
167 
168  int result = RUN_ALL_TESTS();
169 
170  return result;
171 }
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planning
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Sun Mar 3 2024 03:24:16