regression_test_joint_goal_point_head.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 <pr2_controllers_msgs/PointHeadAction.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("~");

  //first we move the head to point at the place that the object is known to be in the base_link frame

  //actionlib::SimpleActionClient<pr2_controllers_msgs::PointHeadAction> point_head(nh, "/head_traj_controller/point_head_action/");
  //point_head.waitForServer();
  
  //pr2_controllers_msgs::PointHeadGoal pha;
  //pha.pointing_frame = "base_link";

  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());

  ros::Publisher point_head_pub = nh.advertise<geometry_msgs::PointStamped>("head_controller/point_head", 1);

  sleep(5.0);

  //prepare the message we will be sending
  geometry_msgs::PointStamped point;
  point.header.frame_id = "base_link";
  point.point.x = .54;
  point.point.y = -.56;
  point.point.z = .35;
  point.header.stamp = ros::Time::now();
  point_head_pub.publish(point);

  std::cout << "Should have advertised point\n";

  //pha.target = point;
 //  while (nh.ok())
//   {
//     bool finished_within_time = false;
//     point_head.sendGoal(pha);
//     finished_within_time = point_head.waitForResult(ros::Duration(200.0));
//     if (!finished_within_time)
//     {
//       point_head.cancelGoal();
//       ROS_INFO("Timed out achieving Point Head goal");
//       EXPECT_TRUE(false);
//     }
//   }
  
  //wait for data to get processed
  sleep(5.0);
  
  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";
  goalB.motion_plan_request.num_planning_attempts = 1;
  goalB.motion_plan_request.allowed_planning_time = ros::Duration(5.0);

  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 = -0.20;
   
  int num_test_attempts = 0;
  int max_attempts = 5;
  bool success = false;
  while (nh.ok())
  {
    bool finished_within_time = false;
    move_arm.sendGoal(goalB);
    finished_within_time = move_arm.waitForResult(ros::Duration(200.0));
    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");
      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;
    }
  }
  EXPECT_TRUE(success);
  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();
}