arm_navigation_tests: regression_test_pose_goal_both

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00036 
00037 /* \author: Ioan Sucan, Sachin Chitta */
00038 
00039 #include <ros/ros.h>
00040 #include <actionlib/client/simple_action_client.h>
00041 #include <move_arm_msgs/MoveArmAction.h>
00042 
00043 #include <stdio.h>
00044 #include <stdlib.h>
00045 #include <time.h>
00046 #include <boost/thread.hpp>
00047 #include <ros/ros.h>
00048 #include <gtest/gtest.h>
00049 
00050 #include <geometric_shapes_msgs/Shape.h>
00051 
00052 #include <arm_navigation_tests/arm_navigation_utils.h>
00053 
00054 
00055 typedef actionlib::SimpleActionClient<move_arm_msgs::MoveArmAction> MoveArmClient;
00056 
00057 void spinThread()
00058 {
00059   ros::spin();
00060 }
00061 
00062 TEST(MoveArm, goToPoseGoal)
00063 {
00064   ros::NodeHandle nh;
00065   ros::NodeHandle private_handle("~");
00066   actionlib::SimpleActionClient<move_arm_msgs::MoveArmAction> move_right_arm(nh, "move_right_arm");
00067   actionlib::SimpleActionClient<move_arm_msgs::MoveArmAction> move_left_arm(nh, "move_left_arm");
00068   boost::thread spin_thread(&spinThread);
00069 
00070   move_right_arm.waitForServer();
00071   move_left_arm.waitForServer();
00072   ROS_INFO("Connected to servers");
00073 
00074   arm_navigation_utils::ArmNavigationUtils arm_nav_utils;
00075   EXPECT_TRUE(arm_nav_utils.takeStaticMap());
00076 
00077   move_arm_msgs::MoveArmGoal goalLeft, goalRight;
00078   goalRight.motion_plan_request.group_name = "right_arm";
00079   goalRight.motion_plan_request.num_planning_attempts = 1;
00080   private_handle.param<std::string>("planner_id",goalRight.motion_plan_request.planner_id,std::string("chomp_planner_longrange"));
00081   private_handle.param<std::string>("planner_service_name",goalRight.planner_service_name,std::string("/chomp_planner_longrange/plan_path"));
00082 
00083   goalRight.motion_plan_request.allowed_planning_time = ros::Duration(5.0);
00084     
00085   goalRight.motion_plan_request.goal_constraints.position_constraints.resize(1);
00086   goalRight.motion_plan_request.goal_constraints.position_constraints[0].header.stamp = ros::Time::now();
00087   goalRight.motion_plan_request.goal_constraints.position_constraints[0].header.frame_id = "torso_lift_link";
00088     
00089   goalRight.motion_plan_request.goal_constraints.position_constraints[0].link_name = "r_wrist_roll_link";
00090   goalRight.motion_plan_request.goal_constraints.position_constraints[0].position.x = 0.75;
00091   goalRight.motion_plan_request.goal_constraints.position_constraints[0].position.y = -0.188;
00092   goalRight.motion_plan_request.goal_constraints.position_constraints[0].position.z = 0;
00093     
00094   goalRight.motion_plan_request.goal_constraints.position_constraints[0].constraint_region_shape.type = geometric_shapes_msgs::Shape::BOX;
00095   goalRight.motion_plan_request.goal_constraints.position_constraints[0].constraint_region_shape.dimensions.push_back(0.02);
00096   goalRight.motion_plan_request.goal_constraints.position_constraints[0].constraint_region_shape.dimensions.push_back(0.02);
00097   goalRight.motion_plan_request.goal_constraints.position_constraints[0].constraint_region_shape.dimensions.push_back(0.02);
00098 
00099   goalRight.motion_plan_request.goal_constraints.position_constraints[0].constraint_region_orientation.w = 1.0;
00100   goalRight.motion_plan_request.goal_constraints.position_constraints[0].weight = 1.0;
00101 
00102   goalRight.motion_plan_request.goal_constraints.orientation_constraints.resize(1);
00103   goalRight.motion_plan_request.goal_constraints.orientation_constraints[0].header.stamp = ros::Time::now();
00104   goalRight.motion_plan_request.goal_constraints.orientation_constraints[0].header.frame_id = "torso_lift_link";    
00105   goalRight.motion_plan_request.goal_constraints.orientation_constraints[0].link_name = "r_wrist_roll_link";
00106   goalRight.motion_plan_request.goal_constraints.orientation_constraints[0].orientation.x = 0.0;
00107   goalRight.motion_plan_request.goal_constraints.orientation_constraints[0].orientation.y = 0.0;
00108   goalRight.motion_plan_request.goal_constraints.orientation_constraints[0].orientation.z = 0.0;
00109   goalRight.motion_plan_request.goal_constraints.orientation_constraints[0].orientation.w = 1.0;
00110     
00111   goalRight.motion_plan_request.goal_constraints.orientation_constraints[0].absolute_roll_tolerance = 0.04;
00112   goalRight.motion_plan_request.goal_constraints.orientation_constraints[0].absolute_pitch_tolerance = 0.04;
00113   goalRight.motion_plan_request.goal_constraints.orientation_constraints[0].absolute_yaw_tolerance = 0.04;
00114 
00115   goalRight.motion_plan_request.goal_constraints.orientation_constraints[0].weight = 1.0;
00116 
00117 
00118 
00119 
00120   goalLeft.motion_plan_request.group_name = "left_arm";
00121   goalLeft.motion_plan_request.num_planning_attempts = 1;
00122   private_handle.param<std::string>("planner_id",goalLeft.motion_plan_request.planner_id,std::string("chomp_planner_longrange"));
00123   private_handle.param<std::string>("planner_service_name",goalLeft.planner_service_name,std::string("/chomp_planner_longrange/plan_path"));
00124 
00125   goalLeft.motion_plan_request.allowed_planning_time = ros::Duration(5.0);
00126     
00127   goalLeft.motion_plan_request.goal_constraints.position_constraints.resize(1);
00128   goalLeft.motion_plan_request.goal_constraints.position_constraints[0].header.stamp = ros::Time::now();
00129   goalLeft.motion_plan_request.goal_constraints.position_constraints[0].header.frame_id = "torso_lift_link";
00130     
00131   goalLeft.motion_plan_request.goal_constraints.position_constraints[0].link_name = "l_wrist_roll_link";
00132   goalLeft.motion_plan_request.goal_constraints.position_constraints[0].position.x = 0.75;
00133   goalLeft.motion_plan_request.goal_constraints.position_constraints[0].position.y = 0.188;
00134   goalLeft.motion_plan_request.goal_constraints.position_constraints[0].position.z = 0;
00135     
00136   goalLeft.motion_plan_request.goal_constraints.position_constraints[0].constraint_region_shape.type = geometric_shapes_msgs::Shape::BOX;
00137   goalLeft.motion_plan_request.goal_constraints.position_constraints[0].constraint_region_shape.dimensions.push_back(0.02);
00138   goalLeft.motion_plan_request.goal_constraints.position_constraints[0].constraint_region_shape.dimensions.push_back(0.02);
00139   goalLeft.motion_plan_request.goal_constraints.position_constraints[0].constraint_region_shape.dimensions.push_back(0.02);
00140 
00141   goalLeft.motion_plan_request.goal_constraints.position_constraints[0].constraint_region_orientation.w = 1.0;
00142   goalLeft.motion_plan_request.goal_constraints.position_constraints[0].weight = 1.0;
00143 
00144   goalLeft.motion_plan_request.goal_constraints.orientation_constraints.resize(1);
00145   goalLeft.motion_plan_request.goal_constraints.orientation_constraints[0].header.stamp = ros::Time::now();
00146   goalLeft.motion_plan_request.goal_constraints.orientation_constraints[0].header.frame_id = "torso_lift_link";    
00147   goalLeft.motion_plan_request.goal_constraints.orientation_constraints[0].link_name = "l_wrist_roll_link";
00148   goalLeft.motion_plan_request.goal_constraints.orientation_constraints[0].orientation.x = 0.0;
00149   goalLeft.motion_plan_request.goal_constraints.orientation_constraints[0].orientation.y = 0.0;
00150   goalLeft.motion_plan_request.goal_constraints.orientation_constraints[0].orientation.z = 0.0;
00151   goalLeft.motion_plan_request.goal_constraints.orientation_constraints[0].orientation.w = 1.0;
00152     
00153   goalLeft.motion_plan_request.goal_constraints.orientation_constraints[0].absolute_roll_tolerance = 0.04;
00154   goalLeft.motion_plan_request.goal_constraints.orientation_constraints[0].absolute_pitch_tolerance = 0.04;
00155   goalLeft.motion_plan_request.goal_constraints.orientation_constraints[0].absolute_yaw_tolerance = 0.04;
00156 
00157   goalLeft.motion_plan_request.goal_constraints.orientation_constraints[0].weight = 1.0;
00158 
00159   /*   
00160   // These are in here just for reference
00161   std::vector<std::string> names(7);
00162   names[0] = "r_shoulder_pan_joint";
00163   names[1] = "r_shoulder_lift_joint";
00164   names[2] = "r_upper_arm_roll_joint";
00165   names[3] = "r_elbow_flex_joint";
00166   names[4] = "r_forearm_roll_joint";
00167   names[5] = "r_wrist_flex_joint";
00168   names[6] = "r_wrist_roll_joint";
00169   */
00170 
00171   int num_test_attempts = 0;
00172   int max_attempts = 5;
00173   bool success = false;
00174   while (nh.ok())
00175   {
00176     bool right_finished_within_time = false;
00177     bool left_finished_within_time = false;
00178     move_right_arm.sendGoal(goalRight);
00179     move_left_arm.sendGoal(goalLeft);
00180     
00181     right_finished_within_time = move_right_arm.waitForResult(ros::Duration(200.0));
00182     left_finished_within_time = move_left_arm.waitForResult(ros::Duration(10.0));
00183     
00184     actionlib::SimpleClientGoalState right_state = move_right_arm.getState();
00185     actionlib::SimpleClientGoalState left_state = move_left_arm.getState();
00186     success = (right_state == actionlib::SimpleClientGoalState::SUCCEEDED && left_state == actionlib::SimpleClientGoalState::SUCCEEDED);
00187     if(!right_finished_within_time || right_state != actionlib::SimpleClientGoalState::SUCCEEDED) {
00188       move_right_arm.cancelGoal();
00189       ROS_INFO("Right arm timed out achieving goal");
00190     }
00191     if(!left_finished_within_time || left_state != actionlib::SimpleClientGoalState::SUCCEEDED) {
00192       move_left_arm.cancelGoal();
00193       ROS_INFO("Left arm timed out achieving goal");
00194     }
00195     if(!success) {
00196       num_test_attempts++;
00197       if(num_test_attempts > max_attempts) {
00198         break;
00199       }
00200     } else {
00201       break;
00202     }
00203   }
00204   EXPECT_TRUE(success);
00205   ros::shutdown();
00206   spin_thread.join();
00207 }
00208 
00209 int main(int argc, char **argv){
00210   testing::InitGoogleTest(&argc, argv);
00211   ros::init (argc, argv, "move_arm_regression_test");
00212   return RUN_ALL_TESTS();
00213 }