regression_test_invalid_joint_goal.cpp

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/* \author: Ioan Sucan, Sachin chitta*/

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

#include <stdio.h>
#include <stdlib.h>
#include <time.h>
#include <ros/ros.h>
#include <gtest/gtest.h>

#include <arm_navigation_tests/arm_navigation_utils.h>

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

TEST(MoveArm, goToJointGoal)
{
  ros::NodeHandle nh;
  ros::NodeHandle private_handle("~");
  actionlib::SimpleActionClient<move_arm_msgs::MoveArmAction> move_arm(nh, "move_right_arm");
  boost::thread spin_thread(&spinThread);

  move_arm.waitForServer();
  ROS_INFO("Connected to server");
  
  arm_navigation_utils::ArmNavigationUtils arm_nav_utils;
  EXPECT_TRUE(arm_nav_utils.takeStaticMap());

  move_arm_msgs::MoveArmGoal goalB;
  std::vector<std::string> names(7);
  names[0] = "r_shoulder_pan_joint";
  names[1] = "r_shoulder_lift_joint";
  names[2] = "r_upper_arm_roll_joint";
  names[3] = "r_elbow_flex_joint";
  names[4] = "r_forearm_roll_joint";
  names[5] = "r_wrist_flex_joint";
  names[6] = "r_wrist_roll_joint";

  goalB.motion_plan_request.group_name = "right_arm";
  private_handle.param<std::string>("planner_id",goalB.motion_plan_request.planner_id,std::string("chomp_planner_longrange"));
  private_handle.param<std::string>("planner_service_name",goalB.planner_service_name,std::string("/chomp_planner_longrange/plan_path"));
    
  goalB.motion_plan_request.goal_constraints.joint_constraints.resize(names.size());
  for (unsigned int i = 0 ; i < goalB.motion_plan_request.goal_constraints.joint_constraints.size(); ++i)
    {
      //      goalB.motion_plan_request.goal_constraints.joint_constraints[i].header.stamp = ros::Time::now();
      //      goalB.motion_plan_request.goal_constraints.joint_constraints[i].header.frame_id = "base_link";
      goalB.motion_plan_request.goal_constraints.joint_constraints[i].joint_name = names[i];
      goalB.motion_plan_request.goal_constraints.joint_constraints[i].position = 0.0;
      goalB.motion_plan_request.goal_constraints.joint_constraints[i].tolerance_below = 0.1;
      goalB.motion_plan_request.goal_constraints.joint_constraints[i].tolerance_above = 0.1;
    }
    
  goalB.motion_plan_request.goal_constraints.joint_constraints[0].position = -2.0;
  goalB.motion_plan_request.goal_constraints.joint_constraints[3].position = -0.2;
  goalB.motion_plan_request.goal_constraints.joint_constraints[5].position = 0.15;
   
  if (nh.ok())
    {
      bool finished_within_time = false;
      move_arm.sendGoal(goalB);
      finished_within_time = move_arm.waitForResult(ros::Duration(10.0));
      actionlib::SimpleClientGoalState state = move_arm.getState();
      bool success = (state == actionlib::SimpleClientGoalState::ABORTED);
      EXPECT_TRUE(success);
      ROS_INFO("Action finished: %s",state.toString().c_str());
    }
  ros::shutdown();
  spin_thread.join();
}

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