python_moveit_commander_ns.py
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1 #!/usr/bin/env python
2 
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35 # Author: William Baker
36 #
37 # This test is used to ensure planning with a RobotCommander is
38 # possbile if the robot's move_group node is in a different namespace
39 
40 import unittest
41 import numpy as np
42 import rospy
43 import rostest
44 import os
45 
46 from moveit_commander import RobotCommander
47 
48 
49 class PythonMoveitCommanderNsTest(unittest.TestCase):
50  PLANNING_GROUP = "manipulator"
51  PLANNING_NS = "test_ns/"
52 
53  @classmethod
54  def setUpClass(self):
55  self.commander = RobotCommander("%srobot_description"%self.PLANNING_NS, self.PLANNING_NS)
56  self.group = self.commander.get_group(self.PLANNING_GROUP)
57 
58  @classmethod
59  def tearDown(self):
60  pass
61 
62  def check_target_setting(self, expect, *args):
63  if len(args) == 0:
64  args = [expect]
65  self.group.set_joint_value_target(*args)
66  res = self.group.get_joint_value_target()
67  self.assertTrue(np.all(np.asarray(res) == np.asarray(expect)),
68  "Setting failed for %s, values: %s" % (type(args[0]), res))
69 
71  n = self.group.get_variable_count()
72  self.check_target_setting([0.1] * n)
73  self.check_target_setting((0.2,) * n)
74  self.check_target_setting(np.zeros(n))
75  self.check_target_setting([0.3] * n, {name: 0.3 for name in self.group.get_active_joints()})
76  self.check_target_setting([0.5] + [0.3]*(n-1), "joint_1", 0.5)
77 
78  def plan(self, target):
79  self.group.set_joint_value_target(target)
80  return self.group.plan()
81 
82  def test_validation(self):
83  current = np.asarray(self.group.get_current_joint_values())
84 
85  plan1 = self.plan(current + 0.2)
86  plan2 = self.plan(current + 0.2)
87 
88  # first plan should execute
89  self.assertTrue(self.group.execute(plan1))
90 
91  # second plan should be invalid now (due to modified start point) and rejected
92  self.assertFalse(self.group.execute(plan2))
93 
94  # newly planned trajectory should execute again
95  plan3 = self.plan(current)
96  self.assertTrue(self.group.execute(plan3))
97 
98 
99 if __name__ == '__main__':
100  PKGNAME = 'moveit_ros_planning_interface'
101  NODENAME = 'moveit_test_python_moveit_commander_ns'
102  rospy.init_node(NODENAME)
103  rostest.rosrun(PKGNAME, NODENAME, PythonMoveitCommanderNsTest)
104 
105  # suppress cleanup segfault
106  os._exit(0)


moveit_commander
Author(s): Ioan Sucan
autogenerated on Sat Feb 9 2019 04:11:11