pr2_arm_ik_tests: pr2_arm_ik_tests: test_collision_free

00001 //Software License Agreement (BSD License)
00002 
00003 //Copyright (c) 2008, Willow Garage, Inc.
00004 //All rights reserved.
00005 
00006 //Redistribution and use in source and binary forms, with or without
00007 //modification, are permitted provided that the following conditions
00008 //are met:
00009 
00010 // * Redistributions of source code must retain the above copyright
00011 //   notice, this list of conditions and the following disclaimer.
00012 // * Redistributions in binary form must reproduce the above
00013 //   copyright notice, this list of conditions and the following
00014 //   disclaimer in the documentation and/or other materials provided
00015 //   with the distribution.
00016 // * Neither the name of Willow Garage, Inc. nor the names of its
00017 //   contributors may be used to endorse or promote products derived
00018 //   from this software without specific prior written permission.
00019 
00020 //THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00021 //"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00022 //LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00023 //FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00024 //COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00025 //INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00026 //BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00027 //LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00028 //CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00029 //LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00030 //ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00031 //POSSIBILITY OF SUCH DAMAGE.
00032 
00033 #include <stdio.h>
00034 #include <stdlib.h>
00035 #include <time.h>
00036 #include <ros/ros.h>
00037 #include <kinematics_msgs/GetPositionIK.h>
00038 #include <kinematics_msgs/GetPositionFK.h>
00039 #include <kinematics_msgs/GetKinematicSolverInfo.h>
00040 #include <kinematics_msgs/GetConstraintAwarePositionIK.h>
00041 #include <arm_navigation_msgs/SetPlanningSceneDiff.h>
00042 
00043 #include <gtest/gtest.h>
00044 
00045 #define IK_NEAR 1e-4
00046 #define IK_NEAR_TRANSLATE 1e-5
00047 
00048 static const std::string ARM_FK_NAME = "/pr2_right_arm_kinematics/get_fk";
00049 static const std::string ARM_IK_NAME = "/pr2_right_arm_kinematics/get_ik";
00050 static const std::string ARM_COLLISION_IK_NAME = "/pr2_right_arm_kinematics/get_constraint_aware_ik";
00051 static const std::string ARM_QUERY_NAME = "/pr2_right_arm_kinematics/get_ik_solver_info";
00052 static const std::string SET_PLANNING_SCENE_DIFF_NAME = "/environment_server/set_planning_scene_diff";
00053 
00054 static const int NUM_TESTS = 1000;
00055 
00056 double gen_rand(double min, double max)
00057 {
00058   int rand_num = rand()%100+1;
00059   double result = min + (double)((max-min)*rand_num)/101.0;
00060   return result;
00061 }
00062 
00063 bool NOT_NEAR(const double &v1, const double &v2, const double &NEAR)
00064 {
00065   if(fabs(v1-v2) > NEAR)
00066     return true;
00067   return false;
00068 }
00069 
00070 TEST(PR2ArmIKWithCollisionNode, inverseKinematics)
00071 {
00072   srand ( time(NULL) ); // initialize random seed
00073   ros::NodeHandle rh;
00074   ros::service::waitForService(ARM_QUERY_NAME);
00075   ros::service::waitForService(ARM_FK_NAME);
00076   ros::service::waitForService(ARM_COLLISION_IK_NAME);
00077   ros::service::waitForService(SET_PLANNING_SCENE_DIFF_NAME);
00078 
00079   ros::ServiceClient set_planning_scene_diff_client = rh.serviceClient<arm_navigation_msgs::SetPlanningSceneDiff>(SET_PLANNING_SCENE_DIFF_NAME);
00080   ros::ServiceClient query_client = rh.serviceClient<kinematics_msgs::GetKinematicSolverInfo>(ARM_QUERY_NAME);
00081   ros::ServiceClient fk_client = rh.serviceClient<kinematics_msgs::GetPositionFK>(ARM_FK_NAME);
00082   ros::ServiceClient ik_with_collision_client = rh.serviceClient<kinematics_msgs::GetConstraintAwarePositionIK>(ARM_COLLISION_IK_NAME);
00083   ros::ServiceClient ik_client = rh.serviceClient<kinematics_msgs::GetPositionIK>(ARM_IK_NAME);
00084 
00085   // define the service messages
00086   kinematics_msgs::GetKinematicSolverInfo::Request request;
00087   kinematics_msgs::GetKinematicSolverInfo::Response response;
00088 
00089   arm_navigation_msgs::SetPlanningSceneDiff::Request planning_scene_req;
00090   arm_navigation_msgs::SetPlanningSceneDiff::Response planning_scene_res;
00091 
00092   if(!set_planning_scene_diff_client.call(planning_scene_req, planning_scene_res)) {
00093     ROS_WARN("Can't get planning scene");
00094     return;
00095   }
00096             
00097   bool service_call = query_client.call(request, response);
00098   ASSERT_TRUE(service_call);
00099   ASSERT_TRUE(response.kinematic_solver_info.joint_names.size() == response.kinematic_solver_info.limits.size());
00100   ASSERT_TRUE(!response.kinematic_solver_info.link_names.empty());
00101 
00102   int num_joints;
00103   std::vector<double> min_limits, max_limits;
00104   num_joints = (int) response.kinematic_solver_info.joint_names.size();
00105   for(int i=0; i< num_joints; i++)
00106   {
00107     min_limits.push_back(response.kinematic_solver_info.limits[i].min_position);
00108     max_limits.push_back(response.kinematic_solver_info.limits[i].max_position);
00109   }
00110 
00111   kinematics_msgs::GetConstraintAwarePositionIK::Request  ik_request;
00112   kinematics_msgs::GetConstraintAwarePositionIK::Response ik_response;
00113 
00114   ik_request.ik_request.ik_seed_state.joint_state.name = response.kinematic_solver_info.joint_names;
00115   ik_request.ik_request.ik_seed_state.joint_state.position.resize(num_joints);
00116   ik_request.ik_request.ik_link_name = response.kinematic_solver_info.link_names[0];
00117   ik_request.timeout = ros::Duration(2.0);
00118   for(int i=0; i< num_joints; i++)
00119   {
00120     ik_request.ik_request.ik_seed_state.joint_state.position[i] = gen_rand(std::max(min_limits[i],-M_PI),std::min(max_limits[i],M_PI));
00121   }
00122 
00123   ik_request.ik_request.ik_link_name = "r_wrist_roll_link";
00124   ik_request.ik_request.pose_stamped.header.frame_id = "torso_lift_link";
00125   ik_request.ik_request.pose_stamped.pose.position.x = 0.45;
00126   ik_request.ik_request.pose_stamped.pose.position.y = 0.0;
00127   ik_request.ik_request.pose_stamped.pose.position.z = 0.0;
00128 
00129   ik_request.ik_request.pose_stamped.pose.orientation.x = 0.0;
00130   ik_request.ik_request.pose_stamped.pose.orientation.y = 0.0;
00131   ik_request.ik_request.pose_stamped.pose.orientation.z = 0.0;
00132   ik_request.ik_request.pose_stamped.pose.orientation.w = 1.0;
00133 
00134   bool ik_service_call = ik_with_collision_client.call(ik_request,ik_response);
00135   if(!ik_service_call)
00136   {
00137     ROS_ERROR("IK service call failed");
00138   }
00139   ROS_INFO("IK response code: %d",(int)ik_response.error_code.val);
00140   ROS_DEBUG("IK response: num positions %d, num solution joints %d",(int)ik_response.solution.joint_state.position.size(),(int)ik_response.solution.joint_state.name.size());
00141   ASSERT_TRUE(ik_response.error_code.val == ik_response.error_code.IK_LINK_IN_COLLISION);
00142 
00143 
00144   kinematics_msgs::GetPositionIK::Request  pos_ik_request;
00145   kinematics_msgs::GetPositionIK::Response pos_ik_response;
00146   pos_ik_request.ik_request = ik_request.ik_request;
00147   pos_ik_request.timeout = ik_request.timeout;
00148   bool ik_call = ik_client.call(pos_ik_request,pos_ik_response);
00149   ASSERT_TRUE(ik_call);
00150   ASSERT_TRUE(pos_ik_response.error_code.val == pos_ik_response.error_code.SUCCESS);
00151   ros::shutdown();
00152 }
00153 
00154 int main(int argc, char **argv){
00155   testing::InitGoogleTest(&argc, argv);
00156   ros::init (argc, argv, "pr2_ik_with_collision_regression_test");
00157   return RUN_ALL_TESTS();
00158 }
test_collision_free_ik.cpp
