pick_place_test.cpp

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#include <moveit/task_constructor/task.h>
 
#include <moveit/task_constructor/stages/current_state.h>
#include <moveit/task_constructor/stages/generate_grasp_pose.h>
#include <moveit/task_constructor/stages/simple_grasp.h>
#include <moveit/task_constructor/stages/pick.h>
#include <moveit/task_constructor/stages/connect.h>
#include <moveit/task_constructor/solvers/pipeline_planner.h>
 
#include <ros/ros.h>
 
#include <moveit_task_constructor_demo/pick_place_task.h>
 
#include <gtest/gtest.h>
 
using namespace moveit::task_constructor;
 
TEST(PickPlaceDemo, run) {
        ros::NodeHandle nh, pnh("~");
 
        moveit_task_constructor_demo::setupDemoScene(pnh);
 
        // Construct and run pick/place task
        moveit_task_constructor_demo::PickPlaceTask pick_place_task("pick_place_task", pnh);
 
        ASSERT_TRUE(pick_place_task.init());
 
        ASSERT_TRUE(pick_place_task.plan());
        ASSERT_TRUE(pick_place_task.execute());
}
 
int main(int argc, char** argv) {
        testing::InitGoogleTest(&argc, argv);
        ros::init(argc, argv, "pick_place_test");
        ros::AsyncSpinner spinner(1);
        spinner.start();
 
        return RUN_ALL_TESTS();
}