planning: test_app.cpp Source File

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00034 
00035 #include <moveit/trajectory_execution_manager/trajectory_execution_manager.h>
00036 #include <moveit/robot_model_loader/robot_model_loader.h>
00037 
00038 int main(int argc, char **argv)
00039 {
00040   ros::init(argc, argv, "test_trajectory_execution_manager");
00041 
00042   ros::AsyncSpinner spinner(1);
00043   spinner.start();
00044 
00045   robot_model_loader::RobotModelLoader rml;
00046   trajectory_execution_manager::TrajectoryExecutionManager tem(rml.getModel(), true);
00047 
00048   std::cout << "1:\n";
00049   if (!tem.ensureActiveControllersForJoints(std::vector<std::string>(1, "basej")))
00050     ROS_ERROR("Fail!");
00051 
00052   std::cout << "2:\n";
00053   if (!tem.ensureActiveController("arms"))
00054     ROS_ERROR("Fail!");
00055 
00056   std::cout << "3:\n";
00057   if (!tem.ensureActiveControllersForJoints(std::vector<std::string>(1, "rj2")))
00058     ROS_ERROR("Fail!");
00059 
00060   std::cout << "4:\n";
00061   if (!tem.ensureActiveControllersForJoints(std::vector<std::string>(1, "lj1")))
00062     ROS_ERROR("Fail!");
00063 
00064   std::cout << "5:\n";
00065   if (!tem.ensureActiveController("left_arm_head"))
00066     ROS_ERROR("Fail!");
00067   std::cout << "6:\n";
00068   if (!tem.ensureActiveController("arms"))
00069     ROS_ERROR("Fail!");
00070 
00071   // execute with empty set of trajectories
00072   tem.execute();
00073   if (!tem.waitForExecution())
00074     ROS_ERROR("Fail!");
00075 
00076   moveit_msgs::RobotTrajectory traj1;
00077   traj1.joint_trajectory.joint_names.push_back("rj1");
00078   traj1.joint_trajectory.points.resize(1);
00079   traj1.joint_trajectory.points[0].positions.push_back(0.0);
00080   if (!tem.push(traj1))
00081     ROS_ERROR("Fail!");
00082 
00083   moveit_msgs::RobotTrajectory traj2 = traj1;
00084   traj2.joint_trajectory.joint_names.push_back("lj2");
00085   traj2.joint_trajectory.points[0].positions.push_back(1.0);
00086   traj2.multi_dof_joint_trajectory.joint_names.push_back("basej");
00087   traj2.multi_dof_joint_trajectory.points.resize(1);
00088   traj2.multi_dof_joint_trajectory.points[0].transforms.resize(1);
00089 
00090   if (!tem.push(traj2))
00091     ROS_ERROR("Fail!");
00092 
00093   traj1.multi_dof_joint_trajectory = traj2.multi_dof_joint_trajectory;
00094   if (!tem.push(traj1))
00095     ROS_ERROR("Fail!");
00096 
00097   if (!tem.executeAndWait())
00098     ROS_ERROR("Fail!");
00099 
00100   ros::waitForShutdown();
00101 
00102   return 0;
00103 }