test_simple_plan.cpp

Go to the documentation of this file.

/*********************************************************************
* Software License Agreement (BSD License)
*
*  Copyright (c) 2011, Willow Garage, Inc.
*  All rights reserved.
*
*  Redistribution and use in source and binary forms, with or without
*  modification, are permitted provided that the following conditions
*  are met:
*
*   * Redistributions of source code must retain the above copyright
*     notice, this list of conditions and the following disclaimer.
*   * Redistributions in binary form must reproduce the above
*     copyright notice, this list of conditions and the following
*     disclaimer in the documentation and/or other materials provided
*     with the distribution.
*   * Neither the name of the Willow Garage nor the names of its
*     contributors may be used to endorse or promote products derived
*     from this software without specific prior written permission.
*
*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
*  POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/

/* Author: Ioan Sucan */

#include <gtest/gtest.h>
#include <planning_scene_monitor/planning_scene_monitor.h>
#include <ompl_interface_ros/ompl_interface_ros.h>
#include <moveit_msgs/GetMotionPlan.h>
#include <moveit_msgs/DisplayTrajectory.h>
#include <kinematic_constraints/utils.h>
#include <planning_models/conversions.h>

static const std::string PLANNER_SERVICE_NAME="/ompl_planning/plan_kinematic_path";
static const std::string ROBOT_DESCRIPTION="robot_description";

TEST(OmplPlanning, SimplePlan)
{
    ros::NodeHandle nh;
    ros::service::waitForService(PLANNER_SERVICE_NAME);
    ros::Publisher pub = nh.advertise<moveit_msgs::DisplayTrajectory>("display_motion_plan", 1);

    ros::ServiceClient planning_service_client = nh.serviceClient<moveit_msgs::GetMotionPlan>(PLANNER_SERVICE_NAME);
    EXPECT_TRUE(planning_service_client.exists());
    EXPECT_TRUE(planning_service_client.isValid());

    moveit_msgs::GetMotionPlan::Request mplan_req;
    moveit_msgs::GetMotionPlan::Response mplan_res;

    planning_scene_monitor::PlanningSceneMonitor psm(ROBOT_DESCRIPTION);
    planning_scene::PlanningScene &scene = *psm.getPlanningScene();
    EXPECT_TRUE(scene.isConfigured());

    mplan_req.motion_plan_request.planner_id = "msRRTConnectkConfigDefault";
    mplan_req.motion_plan_request.group_name = "whole_body";
    mplan_req.motion_plan_request.num_planning_attempts = 1;
    mplan_req.motion_plan_request.allowed_planning_time = ros::Duration(5.0);
    planning_models::RobotState *start = scene.getCurrentState();
    planning_models::robotStateToRobotStateMsg(start, mplan_req.motion_plan_request.start_state);

    start.getJointStateGroup("right_arm")->setToRandomValues();
    mplan_req.motion_plan_request.goal_constraints.resize(1);
    mplan_req.motion_plan_request.goal_constraints[0] = kinematic_constraints::constructGoalConstraints(start.getJointStateGroup("right_arm"));
    std::cout << mplan_req.motion_plan_request << std::endl;

    ASSERT_TRUE(planning_service_client.call(mplan_req, mplan_res));
    ASSERT_EQ(mplan_res.error_code.val, mplan_res.error_code.SUCCESS);
    EXPECT_GT(mplan_res.trajectory.joint_trajectory.points.size(), 0);

    moveit_msgs::DisplayTrajectory d;
    d.model_id = scene.getRobotModel()->getName();
    d.trajectory_start = mplan_res.trajectory_start;
    d.trajectory = mplan_res.trajectory;
    pub.publish(d);
    ros::Duration(0.5).sleep();
}

int main(int argc, char **argv)
{
  testing::InitGoogleTest(&argc, argv);

  ros::init(argc, argv, "test_ompl_planning", ros::init_options::AnonymousName);
  ros::AsyncSpinner spinner(1);
  spinner.start();

  return RUN_ALL_TESTS();
}