regression_test_joint_goal_point_head.cpp
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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 <arm_navigation_msgs/MoveArmAction.h>
00042 #include <pr2_controllers_msgs/PointHeadAction.h>
00043 
00044 #include <stdio.h>
00045 #include <stdlib.h>
00046 #include <time.h>
00047 #include <ros/ros.h>
00048 #include <gtest/gtest.h>
00049 
00050 void spinThread()
00051 {
00052   ros::spin();
00053 }
00054 
00055 TEST(MoveArm, goToJointGoal)
00056 {
00057   ros::NodeHandle nh;
00058   ros::NodeHandle private_handle("~");
00059 
00060   //first we move the head to point at the place that the object is known to be in the base_link frame
00061 
00062   //actionlib::SimpleActionClient<pr2_controllers_msgs::PointHeadAction> point_head(nh, "/head_traj_controller/point_head_action/");
00063   //point_head.waitForServer();
00064   
00065   //pr2_controllers_msgs::PointHeadGoal pha;
00066   //pha.pointing_frame = "base_link";
00067 
00068   actionlib::SimpleActionClient<arm_navigation_msgs::MoveArmAction> move_arm(nh, "move_right_arm");
00069   boost::thread spin_thread(&spinThread);
00070   
00071   move_arm.waitForServer();
00072   ROS_INFO("Connected to server");
00073 
00074   ros::Publisher point_head_pub = nh.advertise<geometry_msgs::PointStamped>("head_controller/point_head", 1);
00075 
00076   sleep(5.0);
00077 
00078   //prepare the message we will be sending
00079   geometry_msgs::PointStamped point;
00080   point.header.frame_id = "base_link";
00081   point.point.x = .54;
00082   point.point.y = -.56;
00083   point.point.z = .35;
00084   point.header.stamp = ros::Time::now();
00085   point_head_pub.publish(point);
00086 
00087   std::cout << "Should have advertised point\n";
00088 
00089   //pha.target = point;
00090  //  while (nh.ok())
00091 //   {
00092 //     bool finished_within_time = false;
00093 //     point_head.sendGoal(pha);
00094 //     finished_within_time = point_head.waitForResult(ros::Duration(200.0));
00095 //     if (!finished_within_time)
00096 //     {
00097 //       point_head.cancelGoal();
00098 //       ROS_INFO("Timed out achieving Point Head goal");
00099 //       EXPECT_TRUE(false);
00100 //     }
00101 //   }
00102   
00103   //wait for data to get processed
00104   sleep(5.0);
00105   
00106   arm_navigation_msgs::MoveArmGoal goalB;
00107   std::vector<std::string> names(7);
00108   names[0] = "r_shoulder_pan_joint";
00109   names[1] = "r_shoulder_lift_joint";
00110   names[2] = "r_upper_arm_roll_joint";
00111   names[3] = "r_elbow_flex_joint";
00112   names[4] = "r_forearm_roll_joint";
00113   names[5] = "r_wrist_flex_joint";
00114   names[6] = "r_wrist_roll_joint";
00115 
00116   goalB.motion_plan_request.group_name = "right_arm";
00117   goalB.motion_plan_request.num_planning_attempts = 1;
00118   goalB.motion_plan_request.allowed_planning_time = ros::Duration(5.0);
00119 
00120   private_handle.param<std::string>("planner_id",goalB.motion_plan_request.planner_id,std::string("chomp_planner_longrange"));
00121   private_handle.param<std::string>("planner_service_name",goalB.planner_service_name,std::string("/chomp_planner_longrange/plan_path"));
00122     
00123   goalB.motion_plan_request.goal_constraints.joint_constraints.resize(names.size());
00124   for (unsigned int i = 0 ; i < goalB.motion_plan_request.goal_constraints.joint_constraints.size(); ++i)
00125   {
00126     //    goalB.motion_plan_request.goal_constraints.joint_constraints[i].header.stamp = ros::Time::now();
00127     //    goalB.motion_plan_request.goal_constraints.joint_constraints[i].header.frame_id = "base_link";
00128     goalB.motion_plan_request.goal_constraints.joint_constraints[i].joint_name = names[i];
00129     goalB.motion_plan_request.goal_constraints.joint_constraints[i].position = 0.0;
00130     goalB.motion_plan_request.goal_constraints.joint_constraints[i].tolerance_below = 0.1;
00131     goalB.motion_plan_request.goal_constraints.joint_constraints[i].tolerance_above = 0.1;
00132   }
00133     
00134   goalB.motion_plan_request.goal_constraints.joint_constraints[0].position = -2.0;
00135   goalB.motion_plan_request.goal_constraints.joint_constraints[3].position = -0.2;
00136   goalB.motion_plan_request.goal_constraints.joint_constraints[5].position = -0.20;
00137    
00138   int num_test_attempts = 0;
00139   int max_attempts = 5;
00140   bool success = false;
00141   while (nh.ok())
00142   {
00143     bool finished_within_time = false;
00144     move_arm.sendGoal(goalB);
00145     finished_within_time = move_arm.waitForResult(ros::Duration(200.0));
00146     actionlib::SimpleClientGoalState state = move_arm.getState();
00147     success = (state == actionlib::SimpleClientGoalState::SUCCEEDED);
00148     if ((!finished_within_time || !success) && num_test_attempts < max_attempts)
00149     {
00150       move_arm.cancelGoal();
00151       ROS_INFO("Timed out achieving goal A");
00152       num_test_attempts++;
00153     }
00154     else
00155     {
00156       if(!success)
00157       {
00158         ROS_INFO("Action finished: %s",state.toString().c_str());
00159         move_arm.cancelGoal();
00160       }
00161       ROS_INFO("Action finished: %s",state.toString().c_str());
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