python_move_group_ns.py
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1 #!/usr/bin/env python
2 
3 # Software License Agreement (BSD License)
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5 # Copyright (c) 2012, Willow Garage, Inc.
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35 # Author: William Baker
36 #
37 # This test is used to ensure planning with a MoveGroupInterface 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_ros_planning_interface._moveit_move_group_interface import MoveGroupInterface
47 
48 
49 class PythonMoveGroupNsTest(unittest.TestCase):
50  PLANNING_GROUP = "manipulator"
51  PLANNING_NS = "test_ns/"
52 
53  @classmethod
54  def setUpClass(self):
55  self.group = MoveGroupInterface(self.PLANNING_GROUP, "%srobot_description"%self.PLANNING_NS, self.PLANNING_NS)
56 
57  @classmethod
58  def tearDown(self):
59  pass
60 
61  def check_target_setting(self, expect, *args):
62  if len(args) == 0:
63  args = [expect]
64  self.group.set_joint_value_target(*args)
65  res = self.group.get_joint_value_target()
66  self.assertTrue(np.all(np.asarray(res) == np.asarray(expect)),
67  "Setting failed for %s, values: %s" % (type(args[0]), res))
68 
70  n = self.group.get_variable_count()
71  self.check_target_setting([0.1] * n)
72  self.check_target_setting((0.2,) * n)
73  self.check_target_setting(np.zeros(n))
74  self.check_target_setting([0.3] * n, {name: 0.3 for name in self.group.get_active_joints()})
75  self.check_target_setting([0.5] + [0.3]*(n-1), "joint_1", 0.5)
76 
77  def plan(self, target):
78  self.group.set_joint_value_target(target)
79  return self.group.compute_plan()
80 
81  def test_validation(self):
82  current = np.asarray(self.group.get_current_joint_values())
83 
84  plan1 = self.plan(current + 0.2)
85  plan2 = self.plan(current + 0.2)
86 
87  # first plan should execute
88  self.assertTrue(self.group.execute(plan1))
89 
90  # second plan should be invalid now (due to modified start point) and rejected
91  self.assertFalse(self.group.execute(plan2))
92 
93  # newly planned trajectory should execute again
94  plan3 = self.plan(current)
95  self.assertTrue(self.group.execute(plan3))
96 
97 
98 if __name__ == '__main__':
99  PKGNAME = 'moveit_ros_planning_interface'
100  NODENAME = 'moveit_test_python_move_group'
101  rospy.init_node(NODENAME)
102  rostest.rosrun(PKGNAME, NODENAME, PythonMoveGroupNsTest)
103 
104  # suppress cleanup segfault
105  os._exit(0)


planning_interface
Author(s): Ioan Sucan
autogenerated on Wed Jul 10 2019 04:04:11