regression_test_under_table_pose_goal_no_ik.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 <boost/thread.hpp>
#include <ros/ros.h>
#include <gtest/gtest.h>
#include <mapping_msgs/CollisionObject.h>
#include <geometric_shapes_msgs/Shape.h>

#include <arm_navigation_tests/arm_navigation_utils.h>

typedef actionlib::SimpleActionClient<move_arm_msgs::MoveArmAction> MoveArmClient;

unsigned int REPS_TO_TRY = 3;


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

TEST(MoveArm, goToPoseGoal)
{

  ros::NodeHandle nh;
  ros::NodeHandle private_handle("~");

  ros::Publisher object_in_map_pub_;
  object_in_map_pub_  = nh.advertise<mapping_msgs::CollisionObject>("collision_object", 10);

  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());

  //push the table and legs into the collision space
  mapping_msgs::CollisionObject table_object;
  table_object.operation.operation = mapping_msgs::CollisionObjectOperation::ADD;
  table_object.header.frame_id = "base_link";
  table_object.header.stamp = ros::Time::now();
  geometric_shapes_msgs::Shape object;
  object.type = geometric_shapes_msgs::Shape::BOX;
  object.dimensions.resize(3);
  object.dimensions[0] = 1.0;
  object.dimensions[1] = 1.0;
  object.dimensions[2] = 0.05;
  geometry_msgs::Pose pose;
  pose.position.x = 1.0;
  pose.position.y = 0;
  pose.position.z = .5;
  pose.orientation.x = 0;
  pose.orientation.y = 0;
  pose.orientation.z = 0;
  pose.orientation.w = 1;
  table_object.shapes.push_back(object);
  table_object.poses.push_back(pose);

  table_object.id = "table";
  object_in_map_pub_.publish(table_object);

 //  mapping_msgs::ObjectInMap leg_object;
//   leg_object.action = mapping_msgs::ObjectInMap::ADD;
//   leg_object.header.frame_id = "base_link";
//   leg_object.header.stamp = ros::Time::now();
//   leg_object.object.type = geometric_shapes_msgs::Shape::BOX;
//   leg_object.object.dimensions.resize(3);
//   leg_object.object.dimensions[0] = 0.02;
//   leg_object.object.dimensions[1] = 0.02;
//   leg_object.object.dimensions[2] = .5;
//   leg_object.pose.position.x = .5;
//   leg_object.pose.position.y = .5;
//   leg_object.pose.position.z = .25;
//   leg_object.pose.orientation.x = 0;
//   leg_object.pose.orientation.y = 0;
//   leg_object.pose.orientation.z = 0;
//   leg_object.pose.orientation.w = 1;
  
//   leg_object.id = "leg1";
//   object_in_map_pub_.publish(leg_object);

//   leg_object.id = "leg2";
//   leg_object.pose.position.x = .5;
//   leg_object.pose.position.y = -.5;
//   leg_object.pose.position.z = .25;
//   object_in_map_pub_.publish(leg_object);
  
  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";

  move_arm_msgs::MoveArmGoal goalA, goalB;
  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(""));
  private_handle.param<std::string>("planner_service_name",goalB.planner_service_name,std::string("/ompl_planning/plan_kinematic_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 = -1.5;
  goalB.motion_plan_request.goal_constraints.joint_constraints[3].position = -0.2;
  goalB.motion_plan_request.goal_constraints.joint_constraints[5].position = -0.20;

  goalA.motion_plan_request.planner_id = "";
  goalA.planner_service_name ="ompl_planning/plan_kinematic_path"; 

  goalA.motion_plan_request.group_name = "right_arm";
  goalA.motion_plan_request.num_planning_attempts = 1;
  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 = "base_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 = 0.6;
  goalA.motion_plan_request.goal_constraints.position_constraints[0].position.y = 0;
  goalA.motion_plan_request.goal_constraints.position_constraints[0].position.z = .35;
    
  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 = "base_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;

  //move arm should send the pose constraint straight to the planner
  goalA.disable_ik = true;

  for(unsigned int i = 0; i < REPS_TO_TRY; i++) {
    
    if (nh.ok())
    {
      bool finished_within_time = false;
      move_arm.sendGoal(goalA);
      finished_within_time = move_arm.waitForResult(ros::Duration(200.0));
      EXPECT_TRUE(finished_within_time);
      if (!finished_within_time)
      {
        move_arm.cancelGoal();
        ROS_INFO("Timed out achieving goal A");
      }
      else
      {
        actionlib::SimpleClientGoalState state = move_arm.getState();
        bool success = (state == actionlib::SimpleClientGoalState::SUCCEEDED);
        EXPECT_TRUE(success);
        ROS_INFO("Action finished: %s",state.toString().c_str());
        EXPECT_TRUE(state == actionlib::SimpleClientGoalState::SUCCEEDED);
      }
    }

    if (nh.ok())
    {
      bool finished_within_time = false;
      move_arm.sendGoal(goalB);
      finished_within_time = move_arm.waitForResult(ros::Duration(100.0));
      EXPECT_TRUE(finished_within_time);
      if (!finished_within_time)
      {
        move_arm.cancelAllGoals();
        ROS_INFO("Timed out achieving goal B");
      }
      else
      {
        actionlib::SimpleClientGoalState state = move_arm.getState();
        bool success = (state == actionlib::SimpleClientGoalState::SUCCEEDED);
        EXPECT_TRUE(success);
        ROS_INFO("Action finished: %s",state.toString().c_str());
        EXPECT_TRUE(state == actionlib::SimpleClientGoalState::SUCCEEDED);
      }
    }
  }
  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();
}