fetch_and_stow_plug_test.cpp
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00001 /*
00002  * Copyright (c) 2008, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  *
00029  * Author: Melonee Wise
00030  */
00031 
00032 
00033 #include <ros/ros.h>
00034 #include <gtest/gtest.h>
00035 #include <boost/thread.hpp>
00036 #include <actionlib/client/simple_action_client.h>
00037 #include <pr2_plugs_msgs/FetchPlugAction.h>
00038 #include <pr2_plugs_msgs/StowPlugAction.h>
00039 #include <pr2_plugs_msgs/DetectPlugOnBaseAction.h>
00040 #include <pr2_controllers_msgs/SingleJointPositionAction.h>
00041 #include <pr2_controllers_msgs/JointTrajectoryAction.h>
00042 #include <pr2_controllers_msgs/Pr2GripperCommandAction.h>
00043 #include <pr2_common_action_msgs/ArmMoveIKAction.h>
00044 #include <actionlib/server/simple_action_server.h>
00045 
00046 
00047 void spinThread()
00048 {
00049   ros::spin();
00050 }
00051 
00052 void arm_execute(const pr2_controllers_msgs::JointTrajectoryGoalConstPtr& goal, actionlib::SimpleActionServer<pr2_controllers_msgs::JointTrajectoryAction>* as)
00053 {
00054   as->setSucceeded();
00055 }
00056 
00057 void gripper_execute(const pr2_controllers_msgs::Pr2GripperCommandGoalConstPtr& goal, actionlib::SimpleActionServer<pr2_controllers_msgs::Pr2GripperCommandAction>* as)
00058 {
00059   as->setSucceeded();
00060 }
00061 
00062 void ik_execute(const pr2_common_action_msgs::ArmMoveIKGoalConstPtr& goal, actionlib::SimpleActionServer<pr2_common_action_msgs::ArmMoveIKAction>* as)
00063 {
00064   as->setSucceeded();
00065 }
00066 
00067 void plug_execute(const pr2_plugs_msgs::DetectPlugOnBaseGoalConstPtr& goal, actionlib::SimpleActionServer<pr2_plugs_msgs::DetectPlugOnBaseAction>* as)
00068 {
00069   as->setSucceeded();
00070 }
00071 
00072 void spine_execute(const pr2_controllers_msgs::SingleJointPositionGoalConstPtr& goal, actionlib::SimpleActionServer<pr2_controllers_msgs::SingleJointPositionAction>* as)
00073 {
00074   as->setSucceeded();
00075 }
00076 
00077 
00078 TEST(ActionServerTest, fetch_plug)
00079 {
00080   ros::NodeHandle n;
00081   boost::thread spin_thread(&spinThread);
00082   actionlib::SimpleActionServer<pr2_controllers_msgs::JointTrajectoryAction> arm_server(n, "r_arm_controller/joint_trajectory_generator", boost::bind(&arm_execute, _1, &arm_server), false);
00083   actionlib::SimpleActionServer<pr2_common_action_msgs::ArmMoveIKAction> ik_server(n, "r_arm_ik", boost::bind(&ik_execute, _1, &ik_server), false);
00084   actionlib::SimpleActionServer<pr2_plugs_msgs::DetectPlugOnBaseAction> plug_server(n, "detect_plug_on_base", boost::bind(&plug_execute, _1, &plug_server), false);
00085   actionlib::SimpleActionServer<pr2_controllers_msgs::Pr2GripperCommandAction> gripper_server(n, "r_gripper_controller/gripper_action", boost::bind(&gripper_execute, _1, &gripper_server), false);
00086   actionlib::SimpleActionServer<pr2_controllers_msgs::SingleJointPositionAction> spine_server(n, "torso_controller/position_joint_action", boost::bind(&spine_execute, _1, &spine_server), false);
00087   arm_server.start();
00088   ik_server.start();
00089   plug_server.start();
00090   gripper_server.start();
00091   spine_server.start();
00092 
00093 
00094   actionlib::SimpleActionClient<pr2_plugs_msgs::FetchPlugAction> ac("fetch_plug");
00095 
00096 
00097   EXPECT_TRUE(ac.waitForServer(ros::Duration(20.0)));
00098   ros::shutdown();
00099   spin_thread.join();
00100 
00101 }
00102 
00103 TEST(ActionServerTest, stow_plug)
00104 {
00105   ros::NodeHandle n;
00106   boost::thread spin_thread(&spinThread);
00107   actionlib::SimpleActionServer<pr2_controllers_msgs::JointTrajectoryAction> arm_server(n, "r_arm_controller/joint_trajectory_generator", boost::bind(&arm_execute, _1, &arm_server), false);
00108   actionlib::SimpleActionServer<pr2_common_action_msgs::ArmMoveIKAction> ik_server(n, "r_arm_ik", boost::bind(&ik_execute, _1, &ik_server), false);
00109   actionlib::SimpleActionServer<pr2_plugs_msgs::DetectPlugOnBaseAction> plug_server(n, "detect_plug_on_base", boost::bind(&plug_execute, _1, &plug_server), false);
00110   actionlib::SimpleActionServer<pr2_controllers_msgs::Pr2GripperCommandAction> gripper_server(n, "r_gripper_controller/gripper_action", boost::bind(&gripper_execute, _1, &gripper_server), false);
00111   actionlib::SimpleActionServer<pr2_controllers_msgs::SingleJointPositionAction> spine_server(n, "torso_controller/position_joint_action", boost::bind(&spine_execute, _1, &spine_server), false);
00112   arm_server.start();
00113   ik_server.start();
00114   plug_server.start();
00115   gripper_server.start();
00116   spine_server.start();
00117 
00118   actionlib::SimpleActionClient<pr2_plugs_msgs::StowPlugAction> ac("stow_plug");
00119 
00120 
00121   EXPECT_TRUE(ac.waitForServer(ros::Duration(20.0)));
00122   ros::shutdown();
00123   spin_thread.join();
00124 
00125 }
00126 
00127 int main(int argc, char **argv){
00128   testing::InitGoogleTest(&argc, argv);
00129   ros::init(argc, argv, "fetch_and_stow_plug_tests");
00130   return RUN_ALL_TESTS();
00131 
00132 }


pr2_plugs_actions
Author(s): Jon Bohren, Patrick Mihelich, Wim Meeussen, and Melonee Wise
autogenerated on Thu Nov 28 2013 11:47:13