regression_test_joint_goal_both_arms.cpp
Go to the documentation of this file.
00001 /*********************************************************************
00002  * Software License Agreement (BSD License)
00003  * 
00004  *  Copyright (c) 2008, Willow Garage, Inc.
00005  *  All rights reserved.
00006  * 
00007  *  Redistribution and use in source and binary forms, with or without
00008  *  modification, are permitted provided that the following conditions
00009  *  are met:
00010  * 
00011  *   * Redistributions of source code must retain the above copyright
00012  *     notice, this list of conditions and the following disclaimer.
00013  *   * Redistributions in binary form must reproduce the above
00014  *     copyright notice, this list of conditions and the following
00015  *     disclaimer in the documentation and/or other materials provided
00016  *     with the distribution.
00017  *   * Neither the name of Willow Garage nor the names of its
00018  *     contributors may be used to endorse or promote products derived
00019  *     from this software without specific prior written permission.
00020  * 
00021  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026  *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032  *  POSSIBILITY OF SUCH DAMAGE.
00033  *
00034  *
00035  *********************************************************************/
00036 
00037 /* \author: Ioan Sucan, Sachin chitta*/
00038 
00039 #include <ros/ros.h>
00040 #include <actionlib/client/simple_action_client.h>
00041 #include <arm_navigation_msgs/MoveArmAction.h>
00042 
00043 #include <stdio.h>
00044 #include <stdlib.h>
00045 #include <time.h>
00046 #include <ros/ros.h>
00047 #include <gtest/gtest.h>
00048 
00049 void spinThread()
00050 {
00051   ros::spin();
00052 }
00053 
00054 TEST(MoveArm, goToJointGoal)
00055 {
00056   ros::NodeHandle nh;
00057   ros::NodeHandle private_handle("~");
00058   actionlib::SimpleActionClient<arm_navigation_msgs::MoveArmAction> move_right_arm(nh, "move_right_arm");
00059   actionlib::SimpleActionClient<arm_navigation_msgs::MoveArmAction> move_left_arm(nh, "move_left_arm");
00060   boost::thread spin_thread(&spinThread);
00061 
00062   move_right_arm.waitForServer();
00063   move_left_arm.waitForServer();
00064   ROS_INFO("Connected to servers");
00065   
00066   arm_navigation_msgs::MoveArmGoal goalRight;
00067   std::vector<std::string> right_names(7);
00068   right_names[0] = "r_shoulder_pan_joint";
00069   right_names[1] = "r_shoulder_lift_joint";
00070   right_names[2] = "r_upper_arm_roll_joint";
00071   right_names[3] = "r_elbow_flex_joint";
00072   right_names[4] = "r_forearm_roll_joint";
00073   right_names[5] = "r_wrist_flex_joint";
00074   right_names[6] = "r_wrist_roll_joint";
00075 
00076   arm_navigation_msgs::MoveArmGoal goalLeft;
00077   std::vector<std::string> left_names(7);
00078   left_names[0] = "l_shoulder_pan_joint";
00079   left_names[1] = "l_shoulder_lift_joint";
00080   left_names[2] = "l_upper_arm_roll_joint";
00081   left_names[3] = "l_elbow_flex_joint";
00082   left_names[4] = "l_forearm_roll_joint";
00083   left_names[5] = "l_wrist_flex_joint";
00084   left_names[6] = "l_wrist_roll_joint";
00085 
00086   goalRight.motion_plan_request.group_name = "right_arm";
00087   goalRight.motion_plan_request.num_planning_attempts = 1;
00088   goalRight.motion_plan_request.allowed_planning_time = ros::Duration(5.0);
00089 
00090   private_handle.param<std::string>("planner_id",goalRight.motion_plan_request.planner_id,std::string("chomp_planner_longrange"));
00091   private_handle.param<std::string>("planner_service_name",goalRight.planner_service_name,std::string("/chomp_planner_longrange/plan_path"));
00092     
00093   goalRight.motion_plan_request.goal_constraints.joint_constraints.resize(right_names.size());
00094   for (unsigned int i = 0 ; i < goalRight.motion_plan_request.goal_constraints.joint_constraints.size(); ++i)
00095   {
00096     // goalRight.motion_plan_request.goal_constraints.joint_constraints[i].header.stamp = ros::Time::now();
00097     // goalRight.motion_plan_request.goal_constraints.joint_constraints[i].header.frame_id = "base_link";
00098     goalRight.motion_plan_request.goal_constraints.joint_constraints[i].joint_name = right_names[i];
00099     goalRight.motion_plan_request.goal_constraints.joint_constraints[i].position = 0.0;
00100     goalRight.motion_plan_request.goal_constraints.joint_constraints[i].tolerance_below = 0.1;
00101     goalRight.motion_plan_request.goal_constraints.joint_constraints[i].tolerance_above = 0.1;
00102   }
00103     
00104   goalRight.motion_plan_request.goal_constraints.joint_constraints[0].position = -2.0;
00105   goalRight.motion_plan_request.goal_constraints.joint_constraints[3].position = -0.2;
00106   goalRight.motion_plan_request.goal_constraints.joint_constraints[5].position = -0.20;
00107 
00108   
00109    
00110   goalLeft.motion_plan_request.group_name = "left_arm";
00111   goalLeft.motion_plan_request.num_planning_attempts = 1;
00112   goalLeft.motion_plan_request.allowed_planning_time = ros::Duration(5.0);
00113 
00114   private_handle.param<std::string>("planner_id",goalLeft.motion_plan_request.planner_id,std::string("chomp_planner_longrange"));
00115   private_handle.param<std::string>("planner_service_name",goalLeft.planner_service_name,std::string("/chomp_planner_longrange/plan_path"));
00116     
00117   goalLeft.motion_plan_request.goal_constraints.joint_constraints.resize(left_names.size());
00118   for (unsigned int i = 0 ; i < goalLeft.motion_plan_request.goal_constraints.joint_constraints.size(); ++i)
00119   {
00120     // goalLeft.motion_plan_request.goal_constraints.joint_constraints[i].header.stamp = ros::Time::now();
00121     // goalLeft.motion_plan_request.goal_constraints.joint_constraints[i].header.frame_id = "base_link";
00122     goalLeft.motion_plan_request.goal_constraints.joint_constraints[i].joint_name = left_names[i];
00123     goalLeft.motion_plan_request.goal_constraints.joint_constraints[i].position = 0.0;
00124     goalLeft.motion_plan_request.goal_constraints.joint_constraints[i].tolerance_below = 0.1;
00125     goalLeft.motion_plan_request.goal_constraints.joint_constraints[i].tolerance_above = 0.1;
00126   }
00127     
00128   goalLeft.motion_plan_request.goal_constraints.joint_constraints[0].position = 2.0;
00129   goalLeft.motion_plan_request.goal_constraints.joint_constraints[3].position = -0.2;
00130   goalLeft.motion_plan_request.goal_constraints.joint_constraints[5].position = -0.20;
00131 
00132   int num_test_attempts = 0;
00133   int max_attempts = 5;
00134   bool success = false;
00135   while (nh.ok())
00136   {
00137     bool right_finished_within_time = false;
00138     bool left_finished_within_time = false;
00139     move_right_arm.sendGoal(goalRight);
00140     move_left_arm.sendGoal(goalLeft);
00141    
00142     right_finished_within_time = move_right_arm.waitForResult(ros::Duration(200.0));
00143     left_finished_within_time = move_left_arm.waitForResult(ros::Duration(10.0));
00144     
00145     actionlib::SimpleClientGoalState right_state = move_right_arm.getState();
00146     actionlib::SimpleClientGoalState left_state = move_left_arm.getState();
00147     success = (right_state == actionlib::SimpleClientGoalState::SUCCEEDED && left_state == actionlib::SimpleClientGoalState::SUCCEEDED);
00148     if(!right_finished_within_time || right_state != actionlib::SimpleClientGoalState::SUCCEEDED) {
00149       move_right_arm.cancelGoal();
00150       ROS_INFO("Right arm timed out achieving goal");
00151     }
00152     if(!left_finished_within_time || left_state != actionlib::SimpleClientGoalState::SUCCEEDED) {
00153       move_left_arm.cancelGoal();
00154       ROS_INFO("Left arm timed out achieving goal");
00155     }
00156     if(!success) {
00157       num_test_attempts++;
00158       if(num_test_attempts > max_attempts) {
00159         break;
00160       }
00161     } else {
00162       break;
00163     }
00164   }
00165   EXPECT_TRUE(success);
00166   ros::shutdown();
00167   spin_thread.join();
00168 }
00169 
00170 int main(int argc, char **argv){
00171   testing::InitGoogleTest(&argc, argv);
00172   ros::init (argc, argv, "move_arm_regression_test");
00173   return RUN_ALL_TESTS();
00174 }


move_arm
Author(s): Ioan Sucan, Sachin Chitta(sachinc@willowgarage.com)
autogenerated on Mon Dec 2 2013 12:35:17