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->getTrajectoryExecutionManager();
61 
62  traj1.joint_trajectory.joint_names.push_back("panda_joint1");
63  traj1.joint_trajectory.points.resize(1);
64  traj1.joint_trajectory.points[0].positions.push_back(0.0);
65 
66  traj2 = traj1;
67  traj2.joint_trajectory.joint_names.push_back("panda_joint2");
68  traj2.joint_trajectory.points[0].positions.push_back(1.0);
69  traj2.multi_dof_joint_trajectory.joint_names.push_back("panda_joint3");
70  traj2.multi_dof_joint_trajectory.points.resize(1);
71  traj2.multi_dof_joint_trajectory.points[0].transforms.resize(1);
72  }
73 
74 protected:
76  MoveItCppPtr moveit_cpp_ptr;
77  PlanningComponentPtr planning_component_ptr;
78  trajectory_execution_manager::TrajectoryExecutionManagerPtr trajectory_execution_manager_ptr;
79  moveit_msgs::RobotTrajectory traj1;
80  moveit_msgs::RobotTrajectory traj2;
81 };
82 
83 TEST_F(MoveItCppTest, EnsureActiveControllersForJointsTest)
84 {
85  ASSERT_TRUE(trajectory_execution_manager_ptr->ensureActiveControllersForJoints({ "panda_joint1" }));
86 }
87 
88 TEST_F(MoveItCppTest, ensureActiveControllerTest)
89 {
90  ASSERT_TRUE(trajectory_execution_manager_ptr->ensureActiveController("fake_panda_arm_controller"));
91 }
92 
93 TEST_F(MoveItCppTest, ExecuteEmptySetOfTrajectoriesTest)
94 {
95  // execute with empty set of trajectories
96  trajectory_execution_manager_ptr->execute();
97  auto last_execution_status = trajectory_execution_manager_ptr->waitForExecution();
99 }
100 
101 TEST_F(MoveItCppTest, PushExecuteAndWaitTest)
102 {
103  ASSERT_TRUE(trajectory_execution_manager_ptr->push(traj1));
104  ASSERT_TRUE(trajectory_execution_manager_ptr->push(traj2));
105  traj1.multi_dof_joint_trajectory = traj2.multi_dof_joint_trajectory;
106  ASSERT_TRUE(trajectory_execution_manager_ptr->push(traj1));
107  auto last_execution_status = trajectory_execution_manager_ptr->executeAndWait();
109 }
110 
111 } // namespace moveit_cpp
112 
113 int main(int argc, char** argv)
114 {
116  ros::init(argc, argv, "test_execution_manager");
117 
118  int result = RUN_ALL_TESTS();
119 
120  return result;
121 }
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ROSCPP_DECL void init(const M_string &remappings, const std::string &name, uint32_t options=0)
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Definition: test_execution_manager.cpp:143
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Definition: test_execution_manager.cpp:113
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Definition: moveit_cpp_test.cpp:146
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MoveItCppPtr moveit_cpp_ptr
Definition: moveit_cpp_test.cpp:147
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Definition: moveit_cpp.h:50
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PlanningComponentPtr planning_component_ptr
Definition: moveit_cpp_test.cpp:148
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int RUN_ALL_TESTS() GTEST_MUST_USE_RESULT_
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Definition: test_execution_manager.cpp:144
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Definition: moveit_cpp_test.cpp:120
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Definition: test_execution_manager.cpp:142
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Definition: moveit_cpp_test.cpp:126


planning
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Thu Nov 24 2022 03:32:50