Running Tests In MoveIt!¶
How to test changes to MoveIt! on various robots, including unit and integration tests.
Note: This is a stub tutorial, to be expanded upon in the future
Integration Test¶
A Python-based integration test is available for testing higher-level move_group functionality in MoveIt! - to run
rostest moveit_ros_planning_interface python_move_group.test
Test Robots¶
PR2
From the package moveit_pr2
roslaunch pr2_moveit_config demo.launch
Fanuc M-10iA
From the package moveit_resources
roslaunch moveit_resources demo.launch
Unit Tests¶
To run unit tests locally on the entire MoveIt! catkin workspace using catkin-tools:
catkin run_tests -iv
To run a test for just 1 package:
catkin run_tests --no-deps --this -iv
Kinematic Tests¶
An additional test suite for the KinematicBase features in MoveIt! is available in the package moveit_kinematic_tests
Open Source Feedback
See something that needs improvement? Please open a pull request on this GitHub page