arm_navigation_tests: arm_navigation_tests: regression_test_simple

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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 <arm_navigation_msgs/utils.h>
00043 
00044 #include <boost/thread.hpp>
00045 #include <gtest/gtest.h>
00046 #include <arm_navigation_tests/arm_navigation_utils.h>
00047 
00048 typedef actionlib::SimpleActionClient<arm_navigation_msgs::MoveArmAction> MoveArmClient;
00049 
00050 void spinThread()
00051 {
00052   ros::spin();
00053 }
00054 
00055 TEST(MoveArm, goToPoseGoal)
00056 {
00057   ros::NodeHandle nh;
00058   ros::NodeHandle private_handle("~");
00059   actionlib::SimpleActionClient<arm_navigation_msgs::MoveArmAction> move_arm(nh, "move_right_arm");
00060   boost::thread spin_thread(&spinThread);
00061 
00062   move_arm.waitForServer();
00063   ROS_INFO("Connected to server");
00064 
00065   arm_navigation_utils::ArmNavigationUtils arm_nav_utils;
00066   EXPECT_TRUE(arm_nav_utils.takeStaticMap());
00067 
00068   arm_navigation_msgs::MoveArmGoal goalA;
00069 
00070   goalA.motion_plan_request.group_name = "right_arm";
00071   goalA.motion_plan_request.num_planning_attempts = 1;
00072   private_handle.param<std::string>("planner_id",goalA.motion_plan_request.planner_id,std::string(""));
00073   private_handle.param<std::string>("planner_service_name",goalA.planner_service_name,std::string("ompl_planning/plan_kinematic_path"));
00074 
00075   goalA.motion_plan_request.allowed_planning_time = ros::Duration(5.0);
00076 
00077 
00078   arm_navigation_msgs::SimplePoseConstraint desired_pose;
00079   desired_pose.header.frame_id = "torso_lift_link";
00080   desired_pose.link_name = "r_wrist_roll_link";
00081   desired_pose.pose.position.x = 0.75;
00082   desired_pose.pose.position.y = -0.188;
00083   desired_pose.pose.position.z = 0;
00084 
00085   desired_pose.pose.orientation.x = 0.0;
00086   desired_pose.pose.orientation.y = 0.0;
00087   desired_pose.pose.orientation.z = 0.0;
00088   desired_pose.pose.orientation.w = 1.0;
00089 
00090   desired_pose.absolute_position_tolerance.x = 0.02;
00091   desired_pose.absolute_position_tolerance.y = 0.02;
00092   desired_pose.absolute_position_tolerance.z = 0.02;
00093 
00094   desired_pose.absolute_roll_tolerance = 0.04;
00095   desired_pose.absolute_pitch_tolerance = 0.04;
00096   desired_pose.absolute_yaw_tolerance = 0.04;
00097     
00098   arm_navigation_msgs::addGoalConstraintToMoveArmGoal(desired_pose,goalA);
00099 
00100   int num_test_attempts = 0;
00101   int max_attempts = 5;
00102   bool success = false;
00103   while (nh.ok())
00104   {
00105     bool finished_within_time = false;
00106     move_arm.sendGoal(goalA);
00107     finished_within_time = move_arm.waitForResult(ros::Duration(100.0));
00108     actionlib::SimpleClientGoalState state = move_arm.getState();
00109     success = (state == actionlib::SimpleClientGoalState::SUCCEEDED);
00110     if ((!finished_within_time || !success) && num_test_attempts < max_attempts)
00111     {
00112       move_arm.cancelGoal();
00113       ROS_INFO("Timed out achieving goal A, trying again. Trying again, attempt: %d",num_test_attempts);
00114       num_test_attempts++;
00115     }
00116     else
00117     {
00118       if(!success)
00119       {
00120         ROS_INFO("Action finished: %s",state.toString().c_str());
00121         move_arm.cancelGoal();
00122       }
00123       ROS_INFO("Action finished: %s",state.toString().c_str());
00124       break;
00125     }
00126   }
00127   EXPECT_TRUE(success);
00128   ros::shutdown();
00129   spin_thread.join();
00130 }
00131 
00132 int main(int argc, char **argv){
00133   testing::InitGoogleTest(&argc, argv);
00134   ros::init (argc, argv, "move_arm_regression_test");
00135   return RUN_ALL_TESTS();
00136 }
regression_test_simple_pose.cpp
