regression_test_add_object.cpp

Go to the documentation of this file.

/*********************************************************************
 *
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2008, 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 the 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 Sachin Chitta, Ioan Sucan
 *********************************************************************/

#include <ros/ros.h>
#include <tf/tf.h>
#include <gtest/gtest.h>
#include <boost/thread.hpp>
#include <kinematics_msgs/GetPositionFK.h>
#include <motion_planning_msgs/GetMotionPlan.h>
#include <planning_environment_msgs/GetRobotState.h>

#include <actionlib/client/simple_action_client.h>
#include <move_arm_msgs/MoveArmAction.h>
#include <geometric_shapes_msgs/Shape.h>

#include <arm_navigation_tests/arm_navigation_utils.h>

#include <mapping_msgs/CollisionObject.h>
#include <geometric_shapes_msgs/Shape.h>

void spinThread()
{
  ros::spin();
}

TEST(OMPL, PathConstraintsTest)
{
  ros::NodeHandle nh;
  ros::NodeHandle private_handle("~");
  boost::thread spin_thread(&spinThread);

  actionlib::SimpleActionClient<move_arm_msgs::MoveArmAction> move_arm(nh, "move_right_arm");
  move_arm.waitForServer();
  ROS_INFO("Connected to server");

  arm_navigation_utils::ArmNavigationUtils arm_nav_utils;
  EXPECT_TRUE(arm_nav_utils.takeStaticMap());


  ros::Publisher object_publisher = nh.advertise<mapping_msgs::CollisionObject>("collision_object", 1, true); 
  mapping_msgs::CollisionObject obj1;          
  obj1.header.stamp = ros::Time::now();
  obj1.header.frame_id = "base_link";
  obj1.id = "obj1";
  obj1.operation.operation = mapping_msgs::CollisionObjectOperation::ADD;
  obj1.shapes.resize(1);
  obj1.shapes[0].type = geometric_shapes_msgs::Shape::CYLINDER;
  obj1.shapes[0].dimensions.resize(2);
  obj1.shapes[0].dimensions[0] = .1;
  obj1.shapes[0].dimensions[1] = 1.5;
  obj1.poses.resize(1);
  obj1.poses[0].position.x = .6;
  obj1.poses[0].position.y = -.45;
  obj1.poses[0].position.z = .75;
  obj1.poses[0].orientation.x = 0;
  obj1.poses[0].orientation.y = 0;
  obj1.poses[0].orientation.z = 0;
  obj1.poses[0].orientation.w = 1;

  object_publisher.publish(obj1);
  ros::Duration(1.0).sleep();

  move_arm_msgs::MoveArmGoal goalA;
  goalA.motion_plan_request.group_name = "right_arm";
  goalA.motion_plan_request.num_planning_attempts = 1;
  private_handle.param<std::string>("planner_id",goalA.motion_plan_request.planner_id,std::string(""));
  private_handle.param<std::string>("planner_service_name",goalA.planner_service_name,std::string("/ompl_planning/plan_kinematic_path"));
  goalA.motion_plan_request.allowed_planning_time = ros::Duration(5.0);
    
  goalA.motion_plan_request.goal_constraints.position_constraints.resize(1);
  goalA.motion_plan_request.goal_constraints.position_constraints[0].header.stamp = ros::Time::now();
  goalA.motion_plan_request.goal_constraints.position_constraints[0].header.frame_id = "torso_lift_link";
    
  goalA.motion_plan_request.goal_constraints.position_constraints[0].link_name = "r_wrist_roll_link";
  goalA.motion_plan_request.goal_constraints.position_constraints[0].position.x = 0.75;
  goalA.motion_plan_request.goal_constraints.position_constraints[0].position.y = -0.188;
  goalA.motion_plan_request.goal_constraints.position_constraints[0].position.z = 0;
    
  goalA.motion_plan_request.goal_constraints.position_constraints[0].constraint_region_shape.type = geometric_shapes_msgs::Shape::BOX;
  goalA.motion_plan_request.goal_constraints.position_constraints[0].constraint_region_shape.dimensions.push_back(0.02);
  goalA.motion_plan_request.goal_constraints.position_constraints[0].constraint_region_shape.dimensions.push_back(0.02);
  goalA.motion_plan_request.goal_constraints.position_constraints[0].constraint_region_shape.dimensions.push_back(0.02);

  goalA.motion_plan_request.goal_constraints.position_constraints[0].constraint_region_orientation.w = 1.0;
  goalA.motion_plan_request.goal_constraints.position_constraints[0].weight = 1.0;

  goalA.motion_plan_request.goal_constraints.orientation_constraints.resize(1);
  goalA.motion_plan_request.goal_constraints.orientation_constraints[0].header.stamp = ros::Time::now();
  goalA.motion_plan_request.goal_constraints.orientation_constraints[0].header.frame_id = "torso_lift_link";    
  goalA.motion_plan_request.goal_constraints.orientation_constraints[0].link_name = "r_wrist_roll_link";
  goalA.motion_plan_request.goal_constraints.orientation_constraints[0].orientation.x = 0.0;
  goalA.motion_plan_request.goal_constraints.orientation_constraints[0].orientation.y = 0.0;
  goalA.motion_plan_request.goal_constraints.orientation_constraints[0].orientation.z = 0.0;
  goalA.motion_plan_request.goal_constraints.orientation_constraints[0].orientation.w = 1.0;
    
  goalA.motion_plan_request.goal_constraints.orientation_constraints[0].absolute_roll_tolerance = 0.04;
  goalA.motion_plan_request.goal_constraints.orientation_constraints[0].absolute_pitch_tolerance = 0.04;
  goalA.motion_plan_request.goal_constraints.orientation_constraints[0].absolute_yaw_tolerance = 0.04;

  goalA.motion_plan_request.goal_constraints.orientation_constraints[0].weight = 1.0;
  goalA.disable_ik = true;
  goalA.accept_partial_plans = true;
  int num_test_attempts = 0;
  int max_attempts = 5;
  bool success = false;
  while (nh.ok())
  {
    bool finished_within_time = false;
    move_arm.sendGoal(goalA);
    finished_within_time = move_arm.waitForResult(ros::Duration(100.0));
    actionlib::SimpleClientGoalState state = move_arm.getState();
    success = (state == actionlib::SimpleClientGoalState::SUCCEEDED);
    if ((!finished_within_time || !success) && num_test_attempts < max_attempts)
    {
      move_arm.cancelGoal();
      ROS_INFO("Timed out achieving goal A, trying again. Trying again, attempt: %d",num_test_attempts);
      num_test_attempts++;
    }
    else
    {
      if(!success)
      {
        ROS_INFO("Action finished: %s",state.toString().c_str());
        move_arm.cancelGoal();
      }
      ROS_INFO("Action finished: %s",state.toString().c_str());
      break;
    }
  }

  goalA.motion_plan_request.goal_constraints.position_constraints[0].position.x = 0.46;
  goalA.motion_plan_request.goal_constraints.position_constraints[0].position.y = -0.678;
  goalA.motion_plan_request.goal_constraints.position_constraints[0].position.z = -0.15;

  goalA.motion_plan_request.path_constraints.orientation_constraints.resize(1);
  goalA.motion_plan_request.path_constraints.orientation_constraints[0].header.frame_id = "torso_lift_link";
  goalA.motion_plan_request.path_constraints.orientation_constraints[0].header.stamp = ros::Time::now();
  goalA.motion_plan_request.path_constraints.orientation_constraints[0].link_name = "r_wrist_roll_link";
   
  goalA.motion_plan_request.path_constraints.orientation_constraints[0].orientation.x = 0.0;
  goalA.motion_plan_request.path_constraints.orientation_constraints[0].orientation.y = 0.0;
  goalA.motion_plan_request.path_constraints.orientation_constraints[0].orientation.z = 0.0;
  goalA.motion_plan_request.path_constraints.orientation_constraints[0].orientation.w = 1.0;

  goalA.motion_plan_request.path_constraints.orientation_constraints[0].type = motion_planning_msgs::OrientationConstraint::HEADER_FRAME;
  goalA.motion_plan_request.path_constraints.orientation_constraints[0].absolute_roll_tolerance = 0.1;
  goalA.motion_plan_request.path_constraints.orientation_constraints[0].absolute_pitch_tolerance = 0.1;
  goalA.motion_plan_request.path_constraints.orientation_constraints[0].absolute_yaw_tolerance = M_PI;

  while (nh.ok())
  {
    bool finished_within_time = false;
    move_arm.sendGoal(goalA);
    finished_within_time = move_arm.waitForResult(ros::Duration(100.0));
    actionlib::SimpleClientGoalState state = move_arm.getState();
    success = (state == actionlib::SimpleClientGoalState::SUCCEEDED);
    if ((!finished_within_time || !success) && num_test_attempts < max_attempts)
    {
      move_arm.cancelGoal();
      ROS_INFO("Timed out achieving goal A, trying again. Trying again, attempt: %d",num_test_attempts);
      num_test_attempts++;
    }
    else
    {
      if(!success)
      {
        ROS_INFO("Action finished: %s",state.toString().c_str());
        move_arm.cancelGoal();
      }
      ROS_INFO("Action finished: %s",state.toString().c_str());
      break;
    }
  }
  ros::shutdown();
  spin_thread.join();
}

int main(int argc, char **argv){
  testing::InitGoogleTest(&argc, argv);
  ros::init(argc,argv,"path_constraints_test");
  return RUN_ALL_TESTS();
}