test_send_action.cpp

Go to the documentation of this file.

#include <gtest/gtest.h>
#include "testUtils.h"
 
#include <ros/ros.h>
#include <ros/package.h>
 
#include <end_effector/Parser.h>
#include <end_effector/ParserMoveIt.h>
#include <end_effector/FindActions.h>
#include <end_effector/EEInterface.h>
#include <end_effector/GraspingActions/ActionGeneric.h>
#include <end_effector/Utils.h>
#include <end_effector/YamlWorker.h>
 
#include <rosee_msg/ROSEECommandAction.h>
#include <actionlib/client/simple_action_client.h>
 
#include <random>
 
 
namespace {
 
class testSendAction: public ::testing::Test {
 
    
 
protected:
 
    testSendAction()  {
    }
 
    virtual ~testSendAction() {
    }
 
    virtual void SetUp() override {
        
        if (! nh.hasParam("robot_name")) {
            std::cout << "[TEST FAIL: robot name not set on server]" << std::endl;
            return;
        }
        
        std::string robot_name = "";
        nh.getParam("robot_name", robot_name);
        
        ROSEE::Parser p ( nh );
        if (! p.init ( ROSEE::Utils::getPackagePath() + "/configs/urdf/" + robot_name + ".urdf",
                       ROSEE::Utils::getPackagePath() + "/configs/srdf/" + robot_name + ".srdf",
                       ros::package::getPath("end_effector") + "/actions/" + robot_name + "/") ) 
        {
            
            std::cout << "[TEST SEND ACTIONS]parser FAIL: some config file missing]" << std::endl;
            return;
        }
        
        ee = std::make_shared<ROSEE::EEInterface>(p);
        
        folderForActions = p.getActionPath();
        if ( folderForActions.size() == 0 ){ //if no action path is set in the yaml file...
            std::cout << "[TEST SEND ACTIONS] parser FAIL: action_path in the config file is missing" << std::endl;
            return;
        }
 
        //note: test on the findActions part is done in other test files
        parserMoveIt = std::make_shared<ROSEE::ParserMoveIt>();
        if (! parserMoveIt->init ("robot_description", false) ) {
 
            std::cout << "[TEST SEND ACTIONS] FAILED parserMoveit Init, stopping execution"  << std::endl; 
            return;
        }
                
        //note: calls to find*** (like findTrig) are done in the specific testu
        actionsFinder = std::make_shared<ROSEE::FindActions>(parserMoveIt);
 
                                                                          
        }
 
    virtual void TearDown() override {
    }
    
    void sendAndTest(ROSEE::Action::Ptr action, double percentageWanted = 1.0);
 
    ros::NodeHandle nh;
    std::string folderForActions;
    std::unique_ptr<ROSEE::TestUtils::Process> roseeExecutor;
    ROSEE::EEInterface::Ptr ee;
    ros::Publisher sendActionPub;
    ros::Subscriber receiveRobStateSub;
    ROSEE::YamlWorker yamlWorker;
    std::shared_ptr <actionlib::SimpleActionClient <rosee_msg::ROSEECommandAction> > action_client;
    ROSEE::ParserMoveIt::Ptr parserMoveIt;
    std::shared_ptr<ROSEE::FindActions> actionsFinder;
    
    struct ClbkHelper {
    
        ClbkHelper() : js(), completed(false) {};
    
        void jointStateClbk(const sensor_msgs::JointState::ConstPtr& msg) {
            
            js.name = msg->name;
            js.position = msg->position;
            js.velocity = msg->velocity;
            js.effort = msg->effort;
        }
 
        void actionDoneClbk(const actionlib::SimpleClientGoalState& state,
                    const rosee_msg::ROSEECommandResultConstPtr& result) { 
            
            completed = true; 
            goalState = state.state_;
            actionCompleted = result->completed_action;
        }
 
        void actionFeedbackClbk(const rosee_msg::ROSEECommandFeedbackConstPtr& feedback) {
            
            feedback_percentage = feedback->completation_percentage;   
        }
 
        void actionActiveClbk() { completed = false; }
        
        sensor_msgs::JointState js;
        bool completed;
        double feedback_percentage;
        rosee_msg::ROSEEActionControl actionCompleted;
        actionlib::SimpleClientGoalState::StateEnum goalState; 
        
            
    };
 
    ClbkHelper clbkHelper;
    
    void setMainNode();
    void sendAction( ROSEE::Action::Ptr action, double percentageWanted);
    void testAction( ROSEE::Action::Ptr actionSent, double percentageWanted);
    
};
 
void testSendAction::setMainNode() {
    
    std::string handNameArg = "hand_name:=" + ee->getName();
    roseeExecutor.reset(new ROSEE::TestUtils::Process({"roslaunch", "end_effector", "test_rosee_startup.launch", handNameArg}));
 
    //TODO put a checkReady service instead of sleeping?
    sleep(5); // lets wait for test_rosee_startup to be ready
    std::string topic_name_js = "/ros_end_effector/joint_states";    
    
    receiveRobStateSub = nh.subscribe (topic_name_js, 1, &ClbkHelper::jointStateClbk, &clbkHelper);
    
    action_client = 
        std::make_shared <actionlib::SimpleActionClient <rosee_msg::ROSEECommandAction>>
        (nh, "/ros_end_effector/action_command", true); //TODO check this action command
 
    action_client->waitForServer();
        
}
    
void testSendAction::sendAction( ROSEE::Action::Ptr action, double percentageWanted) {
 
    rosee_msg::ROSEECommandGoal goal;
    goal.goal_action.seq = 0 ;
    goal.goal_action.stamp = ros::Time::now();
    goal.goal_action.percentage = percentageWanted;
    goal.goal_action.action_name = action->getName();
    goal.goal_action.action_type = action->getType() ;
 
    if (action->getType() == ROSEE::Action::Type::Primitive) {
        ROSEE::ActionPrimitive::Ptr primitivePtr = std::static_pointer_cast<ROSEE::ActionPrimitive>(action);
        goal.goal_action.actionPrimitive_type = primitivePtr->getPrimitiveType() ;
 
        for (auto it : primitivePtr->getKeyElements()) {
            goal.goal_action.selectable_items.push_back(it);
        }
    }
 
    action_client->sendGoal (goal, boost::bind(&ClbkHelper::actionDoneClbk, &clbkHelper, _1, _2),
        boost::bind(&ClbkHelper::actionActiveClbk, &clbkHelper), boost::bind(&ClbkHelper::actionFeedbackClbk, &clbkHelper, _1)) ;
        
}
 
void testSendAction::testAction(ROSEE::Action::Ptr actionSent, double percentageWanted) {
         
    ros::Rate r(10); // 10 hz
    while (!clbkHelper.completed) {
        ROS_INFO_STREAM_ONCE("Test Send Actions: Waiting for action completion...");
        ros::spinOnce();
        r.sleep();
    }
    
    //lets wait one sec more so subscriber for joint state receive the very last state
    ros::Rate r2(1);
    r2.sleep();
    ros::spinOnce();
 
    
    //finally, lets test if the pos set in the actions are the same of the robot when the action is completed
    for (int i=0; i < clbkHelper.js.name.size(); i++) {
        
        auto wantedJointsPosMap = actionSent->getJointPos();
        
        auto findJoint = wantedJointsPosMap.find(clbkHelper.js.name[i]);
        
        if (findJoint == wantedJointsPosMap.end()){
            continue; //this is not an error, in clbkHelper we have joint pos of all joints, not only actuated
        }
        
        double wantedPos = (findJoint->second.at(0))*percentageWanted;
        double realPos = clbkHelper.js.position[i];
        
        EXPECT_NEAR (wantedPos, realPos, 0.02);  //norm of the accepted error in roseeExecutor is <0.01
 
        //the percentage must be exaclty 100 instead (apart double precisions errors, handled by the macro)
        EXPECT_DOUBLE_EQ (clbkHelper.feedback_percentage, 100); 
        EXPECT_EQ (actionlib::SimpleClientGoalState::SUCCEEDED, clbkHelper.goalState);
        
        //test if the action completed is the same sent
        EXPECT_DOUBLE_EQ (percentageWanted, clbkHelper.actionCompleted.percentage);
        EXPECT_EQ (actionSent->getName(), clbkHelper.actionCompleted.action_name);
        EXPECT_EQ (actionSent->getType(), clbkHelper.actionCompleted.action_type);
        if (actionSent->getType() == ROSEE::Action::Type::Primitive) {
            ROSEE::ActionPrimitive::Ptr primitivePtr = std::static_pointer_cast<ROSEE::ActionPrimitive>(actionSent);
            EXPECT_EQ (primitivePtr->getPrimitiveType(), clbkHelper.actionCompleted.actionPrimitive_type);
        }
    }
}
 
void testSendAction::sendAndTest(ROSEE::Action::Ptr action, double percentageWanted) {
    
    setMainNode();
    sendAction(action, percentageWanted);
    testAction(action, percentageWanted);
    
}
 
TEST_F ( testSendAction, sendSimpleGeneric ) {
    
    
    ROSEE::JointPos jp;
    ROSEE::JointsInvolvedCount jpc;
 
    std::vector<std::string> actJoints = ee->getActuatedJoints();
    
    ASSERT_FALSE (actJoints.empty());
    
    for (int i = 0; i<actJoints.size(); i++) {
                
        int id = -1;
        ee->getInternalIdForJoint(actJoints.at(i), id);
        
        //create an action where all joints move toward their upper limit
        std::vector<double> one_dof;
        one_dof.push_back ( ee->getUpperPositionLimits()[id] );
        jp.insert ( std::make_pair(actJoints.at(i), one_dof) );
        jpc.insert (std::make_pair(actJoints.at(i), 1));
        
    }
 
    //ROSEE::Action::Ptr action = std::make_shared<ROSEE::ActionGeneric>("testAllUpperLim", jp, jpc);
    ROSEE::Action::Ptr action = std::make_shared<ROSEE::ActionGeneric>("RandomActionGeneric", jp, jpc);
    //emit the yaml so roseeExecutor can find the action
    yamlWorker.createYamlFile( action.get(), folderForActions + "/generics/" );
 
    sendAndTest(action);
    
}
 
TEST_F ( testSendAction, sendSimpleGeneric2 ) {
    
    
    ROSEE::JointPos jp;
    ROSEE::JointsInvolvedCount jpc;
 
    std::vector<std::string> actJoints = ee->getActuatedJoints();
    
    ASSERT_FALSE (actJoints.empty());
    
    for (int i = 0; i<actJoints.size(); i++) {
                
        int id = -1;
        ee->getInternalIdForJoint(actJoints.at(i), id);
        
        //create an action where all joints move toward their lower limit
        std::vector<double> one_dof;
        one_dof.push_back ( ee->getLowerPositionLimits()[id] );
        jp.insert ( std::make_pair(actJoints.at(i), one_dof) );
        jpc.insert (std::make_pair(actJoints.at(i), 1));
        
    }
 
    ROSEE::Action::Ptr action = std::make_shared<ROSEE::ActionGeneric>("testAllLowerLim", jp, jpc);
    //emit the yaml so roseeExecutor can find the action
    yamlWorker.createYamlFile( action.get(), folderForActions + "/generics/" );
 
    sendAndTest(action);
    
}
 
 
TEST_F ( testSendAction, sendSimpleGeneric3 ) {
    
    ROSEE::JointPos jp;
    ROSEE::JointsInvolvedCount jpc;
 
    std::vector<std::string> actJoints = ee->getActuatedJoints();
    
    ASSERT_FALSE (actJoints.empty());
    
    for (int i = 0; i<actJoints.size(); i++) {
                
        int id = -1;
        ee->getInternalIdForJoint(actJoints.at(i), id);
        
        //create an action where all joints move, but make sure to stay within limits
        std::vector<double> one_dof;
        one_dof.push_back ( ee->getLowerPositionLimits()[id]*0.15 + 0.1 );
        jp.insert ( std::make_pair(actJoints.at(i), one_dof) );
        jpc.insert (std::make_pair(actJoints.at(i), 1));
        
    }
 
    ROSEE::Action::Ptr action = std::make_shared<ROSEE::ActionGeneric>("testAllUpperLim2", jp, jpc);
    //emit the yaml so roseeExecutor can find the action
    yamlWorker.createYamlFile( action.get(), folderForActions + "/generics/" );
 
    sendAndTest(action, 0.33);
    
}
 
TEST_F ( testSendAction, sendTrig ) {
 
    ROSEE::ActionTrig::Map trigMap = actionsFinder->findTrig (ROSEE::ActionPrimitive::Type::Trig, folderForActions + "/primitives/") ;
 
    if (trigMap.size()>0){
        std::vector<std::string> keys = ROSEE::Utils::extract_keys(trigMap);
        //lets pick a random trig
        srand((unsigned int)time(NULL));
        int i = rand() % keys.size();
        ROSEE::Action::Ptr action = std::make_shared<ROSEE::ActionTrig>(trigMap.at(keys.at(i)));
 
        sendAndTest(action);
        
        //other than "default" check done in sendAndTest, we check that effectively the trig joints are gone
        //toward their limit (from definition of trig)
        std::vector<std::string> actJointsInvolved;
        ee->getActuatedJointsInFinger(keys.at(i), actJointsInvolved);
        
        for (auto jointName : actJointsInvolved) {
            //at O single dof joint
            double bigBound = parserMoveIt->getBiggerBoundFromZero(jointName).at(0);
            
            for (int k = 0; k<clbkHelper.js.name.size(); k++) {
                
                if (clbkHelper.js.name[i].compare(jointName) == 0 ) {
                    EXPECT_NEAR(bigBound, clbkHelper.js.position[i], 0.02);
                    break;
                } 
            }
        }
    }
}
 
TEST_F ( testSendAction, sendTipFlex ) {
    
    auto tipFlexMap = actionsFinder->findTrig (ROSEE::ActionPrimitive::Type::TipFlex, folderForActions + "/primitives/");
 
    if (tipFlexMap.size()>0) {
        std::vector<std::string> keys = ROSEE::Utils::extract_keys(tipFlexMap);
        //lets pick a random 
        srand((unsigned int)time(NULL));
        int i = rand() % keys.size();
        ROSEE::Action::Ptr action = std::make_shared<ROSEE::ActionTrig>(tipFlexMap.at(keys.at(i)));
 
        sendAndTest(action);
        
        //other than "default" check done in sendAndTest, we check that effectively the joint is gone to the limit
        
        //Workaround to take the single joint used by this action
        auto jic = action->getJointsInvolvedCount();
        std::string jointInvolved;
        for (auto it : jic) {
            if (it.second == 1 ){
                jointInvolved = it.first;
            }
        }
        
        EXPECT_TRUE(jointInvolved.size() > 0);
        
        //at O single dof joint
        double bigBound = parserMoveIt->getBiggerBoundFromZero(jointInvolved).at(0);
        
        for (int k = 0; k<clbkHelper.js.name.size(); k++) {
            
            if (clbkHelper.js.name[i].compare(jointInvolved) == 0 ) {
                EXPECT_NEAR(bigBound, clbkHelper.js.position[i], 0.02);
                break;
                
            }
        }        
    }
}
 
TEST_F ( testSendAction, sendFingFlex ) {
 
    auto fingFlexMap = actionsFinder->findTrig (ROSEE::ActionPrimitive::Type::FingFlex, folderForActions + "/primitives/");
 
    if (fingFlexMap.size()>0) {
        std::vector<std::string> keys = ROSEE::Utils::extract_keys(fingFlexMap);
        //lets pick a random 
        srand((unsigned int)time(NULL));
        int i = rand() % keys.size();
        ROSEE::Action::Ptr action = std::make_shared<ROSEE::ActionTrig>(fingFlexMap.at(keys.at(i)));
 
        sendAndTest(action);
        
       //other than "default" check done in sendAndTest, we check that effectively the joint is gone to the limit
        
        //Workaround to take the single joint used by this action
        auto jic = action->getJointsInvolvedCount();
        std::string jointInvolved;
        for (auto it : jic) {
            if (it.second == 1 ){
                jointInvolved = it.first;
            }
        }
        
        EXPECT_TRUE(jointInvolved.size() > 0);
        
        //at O single dof joint
        double bigBound = parserMoveIt->getBiggerBoundFromZero(jointInvolved).at(0);
        
        for (int k = 0; k<clbkHelper.js.name.size(); k++) {
            
            if (clbkHelper.js.name[i].compare(jointInvolved) == 0 ) {
                EXPECT_NEAR(bigBound, clbkHelper.js.position[i], 0.02);
                break;
                
            }
        }
    }
}
 
 
TEST_F ( testSendAction, sendPinches ) {
    
    auto pinchTightMap = actionsFinder->findPinch(folderForActions + "/primitives/").first;
 
    if (pinchTightMap.size()>0){
        std::vector<std::pair<std::string,std::string>> keys = ROSEE::Utils::extract_keys(pinchTightMap);
        //lets pick a random 
        srand((unsigned int)time(NULL));
        int i = rand() % keys.size();
        ROSEE::Action::Ptr action = std::make_shared<ROSEE::ActionPinchTight>(pinchTightMap.at(keys.at(i)));
 
        sendAndTest(action);
        
    }
}
 
TEST_F ( testSendAction, sendPinchLoose ) {
    
    auto pinchLooseMap = actionsFinder->findPinch(folderForActions + "/primitives/").second;
 
    if (pinchLooseMap.size()>0){
        std::vector<std::pair<std::string,std::string>> keys = ROSEE::Utils::extract_keys(pinchLooseMap);
        //lets pick a random 
        srand((unsigned int)time(NULL));
        int i = rand() % keys.size();
        ROSEE::Action::Ptr action = std::make_shared<ROSEE::ActionPinchLoose>(pinchLooseMap.at(keys.at(i)));
 
        sendAndTest(action);
        
    }
}
 
TEST_F (testSendAction, sendMultiplePinchStrict ) {
    
            
    std::vector < ROSEE::ActionMultiplePinchTight::Map > multiplePinchMapsStrict;
    for (int i = 3; i <= ee->getFingersNumber(); i++) {
        auto multiplePinchMapStrict = actionsFinder->findMultiplePinch(i, folderForActions + "/primitives/", true );
        
        //keep only if it is not empty
        if (multiplePinchMapStrict.size() > 0 ) {
            multiplePinchMapsStrict.push_back (multiplePinchMapStrict);
        }    
    }
 
    if ( multiplePinchMapsStrict.size() > 0 ) {
        
        srand((unsigned int)time(NULL));
        int j = rand() % multiplePinchMapsStrict.size();
        
        std::vector<std::set<std::string>> keys = ROSEE::Utils::extract_keys( multiplePinchMapsStrict.at(j) );
        //lets pick a random trig
        srand((unsigned int)time(NULL));
        int i = rand() % keys.size();
        ROSEE::Action::Ptr action = std::make_shared<ROSEE::ActionMultiplePinchTight>(multiplePinchMapsStrict.at(j).at(keys.at(i)));
 
        sendAndTest(action);
        
    }
    
}
 
TEST_F (testSendAction, sendMultiplePinchNoStrict ) {
    
            
    std::vector < ROSEE::ActionMultiplePinchTight::Map > multiplePinchMapsNOStrict;
    for (int i = 3; i <= ee->getFingersNumber(); i++) {
        auto multiplePinchMapNOStrict = actionsFinder->findMultiplePinch(i, folderForActions + "/primitives/", false );
        
        //keep only if it is not empty
        if (multiplePinchMapNOStrict.size() > 0 ) {
            multiplePinchMapsNOStrict.push_back (multiplePinchMapNOStrict);
        }
 
    }
 
    if ( multiplePinchMapsNOStrict.size() > 0 ) {
        
        srand((unsigned int)time(NULL));
        int j = rand() % multiplePinchMapsNOStrict.size();
        
        std::vector<std::set<std::string>> keys = ROSEE::Utils::extract_keys( multiplePinchMapsNOStrict.at(j) );
        //lets pick a random trig
        srand((unsigned int)time(NULL));
        int i = rand() % keys.size();
        ROSEE::Action::Ptr action = std::make_shared<ROSEE::ActionMultiplePinchTight>(multiplePinchMapsNOStrict.at(j).at(keys.at(i)));
 
        sendAndTest(action);
        
    }
    
}
 
TEST_F (testSendAction, sendSingleJointMultipleTips ) {
    
    std::vector < ROSEE::ActionSingleJointMultipleTips::Map > singleJointMultipleTipsMaps;
    
    for (int i = 1; i<=ee->getFingersNumber(); i++) {
            
        std::map < std::string, ROSEE::ActionSingleJointMultipleTips> singleJointMultipleTipsMap = 
            actionsFinder->findSingleJointMultipleTips (i, folderForActions + "/primitives/") ;
            
        if (singleJointMultipleTipsMap.size()>0) {
            singleJointMultipleTipsMaps.push_back(singleJointMultipleTipsMap);
        }
 
    }
 
    if ( singleJointMultipleTipsMaps.size() > 0 ) {
        
        srand((unsigned int)time(NULL));
        int j = rand() % singleJointMultipleTipsMaps.size();
        
        std::vector<std::string> keys = ROSEE::Utils::extract_keys( singleJointMultipleTipsMaps.at(j) );
        //lets pick a random trig
        srand((unsigned int)time(NULL));
        int i = rand() % keys.size();
        ROSEE::Action::Ptr action = std::make_shared<ROSEE::ActionSingleJointMultipleTips>(singleJointMultipleTipsMaps.at(j).at(keys.at(i)));
 
        sendAndTest(action);
            
    }
}
 
 
/***
 * @brief Here we create a randomic action composed by some primitives
 */
TEST_F (testSendAction, sendComposedAction ) {
 
    ROSEE::ActionTrig::Map trigMap = actionsFinder->findTrig (ROSEE::ActionPrimitive::Type::Trig, folderForActions + "/primitives/") ;
    auto fingFlexMap = actionsFinder->findTrig (ROSEE::ActionPrimitive::Type::FingFlex, folderForActions + "/primitives/");
    auto pinchTightMap = actionsFinder->findPinch(folderForActions + "/primitives/").first;
    
    ROSEE::ActionComposed actionComposed ( "TestComposed", false) ;
    
    for (auto trig : trigMap) {
        std::shared_ptr <ROSEE::ActionPrimitive> pointer = 
            std::make_shared <ROSEE::ActionTrig> ( trig.second );
            
        double lower_bound = 0;
        double upper_bound = 0.8; //low, we do not want to go out of joint limits
        std::uniform_real_distribution<double> unif(lower_bound, upper_bound);
        std::default_random_engine re;
        double random = unif(re);
        EXPECT_TRUE(actionComposed.sumAction ( pointer, random )); 
    }
    
    for (auto trig : fingFlexMap) {
        std::shared_ptr <ROSEE::ActionPrimitive> pointer = 
            std::make_shared <ROSEE::ActionTrig> ( trig.second );
            
        double lower_bound = 0;
        double upper_bound = 0.7; //low, we do not want to go out of joint limits
        std::uniform_real_distribution<double> unif(lower_bound, upper_bound);
        std::default_random_engine re;
        double random = unif(re);
        EXPECT_TRUE(actionComposed.sumAction ( pointer, random )); 
    }
    
    for (auto pinch : pinchTightMap) {
        
        std::shared_ptr <ROSEE::ActionPrimitive> pointer = 
            std::make_shared <ROSEE::ActionPinchTight> ( pinch.second );
            
        double lower_bound = 0;
        double upper_bound = 0.29; //low, we do not want to go out of joint limits
        std::uniform_real_distribution<double> unif(lower_bound, upper_bound);
        std::default_random_engine re;
        double random = unif(re);
        EXPECT_TRUE(actionComposed.sumAction ( pointer, random, 2 )); 
    }
    
    if (actionComposed.numberOfInnerActions() > 0) {
        ROSEE::Action::Ptr actionPtr = std::make_shared<ROSEE::ActionGeneric>(actionComposed);
        
        //do not forget to emit the file, in sendAndTest the rosee main node need to parse it
        yamlWorker.createYamlFile( actionPtr.get(), folderForActions + "/generics/" );
 
        sendAndTest(actionPtr, 0.95);
    }
 
}
 
 
TEST_F (testSendAction, sendTimedAction ) {
 
    ROSEE::ActionTrig::Map trigMap = actionsFinder->findTrig (ROSEE::ActionPrimitive::Type::Trig, folderForActions + "/primitives/") ;
    auto tipFlexMap = actionsFinder->findTrig (ROSEE::ActionPrimitive::Type::TipFlex, folderForActions + "/primitives/");
    auto pinchMaps = actionsFinder->findPinch(folderForActions + "/primitives/");
    
    ROSEE::ActionTimed actionTimed ( "TestTimed" ) ;
    
    if  (trigMap.size()>0) {
        std::shared_ptr <ROSEE::ActionPrimitive> pointer = 
            std::make_shared <ROSEE::ActionTrig> ( trigMap.begin()->second );
            
        double lower_bound = 0;
        double upper_bound = 0.8; //low, we do not want to go out of joint limits
        std::uniform_real_distribution<double> unif(lower_bound, upper_bound);
        std::default_random_engine re;
        double random = unif(re);
        EXPECT_TRUE(actionTimed.insertAction(pointer, 0, 0.7, 0, random)); 
    }
    
    if (tipFlexMap.size() > 0) {
        std::shared_ptr <ROSEE::ActionPrimitive> pointer = 
            std::make_shared <ROSEE::ActionTrig> ( tipFlexMap.rbegin()->second); //rbegin is the last element
            
        double lower_bound = 0;
        double upper_bound = 0.95;
        std::uniform_real_distribution<double> unif(lower_bound, upper_bound);
        std::default_random_engine re;
        double random = unif(re);
        EXPECT_TRUE(actionTimed.insertAction(pointer, 0.2, 0.32, 0, random)); 
    }
    
    if (! pinchMaps.first.empty()) {
        
        std::shared_ptr <ROSEE::ActionPrimitive> pointer = 
            std::make_shared <ROSEE::ActionPinchTight> ( pinchMaps.first.begin()->second );
            
        double lower_bound = 0.6;
        double upper_bound = 1; 
        std::uniform_real_distribution<double> unif(lower_bound, upper_bound);
        std::default_random_engine re;
        double random = unif(re);
        EXPECT_TRUE(actionTimed.insertAction(pointer, 0.2, 0.32, 1, random)); 
    }
    
    if (! pinchMaps.second.empty()) {        
        std::shared_ptr <ROSEE::ActionPrimitive> pointer = 
            std::make_shared <ROSEE::ActionPinchLoose> ( pinchMaps.second.rbegin()->second );
            
        double lower_bound = 0;
        double upper_bound = 1;
        std::uniform_real_distribution<double> unif(lower_bound, upper_bound);
        std::default_random_engine re;
        double random = unif(re);
        EXPECT_TRUE(actionTimed.insertAction(pointer, 0, 0, 0, random)); 
    }
    
    if (actionTimed.getInnerActionsNames().size() > 0) {
        ROSEE::Action::Ptr actionPtr = std::make_shared<ROSEE::ActionTimed>(actionTimed);
        
        //do not forget to emit the file, in sendAndTest the rosee main node need to parse it
        yamlWorker.createYamlFile( actionPtr.get(), folderForActions + "/timeds/" );
        
        sendAndTest(actionPtr);
    }
 
}
 
 
 
} //namespace
 
int main ( int argc, char **argv ) {
    
    if (argc < 2 ){
        
        std::cout << "[TEST ERROR] Insert hand name as argument" << std::endl;
        return -1;
    }
    
    /******************* Run tests on an isolated roscore ********************************************************/
    /* COMMENT ALL THIS block if you want to use roscore command by hand (useful for debugging the test) */
    //TODO I do not really understand why everything fails if I put this block at the beginning of prepareROSForTests function
    if(setenv("ROS_MASTER_URI", "http://localhost:11322", 1) == -1)
    {
       perror("setenv");
       return 1;
    }
 
    //run roscore
    std::unique_ptr<ROSEE::TestUtils::Process> roscore;
    roscore.reset(new ROSEE::TestUtils::Process({"roscore", "-p", "11322"}));
    /****************************************************************************************************/
    
    if ( ROSEE::TestUtils::prepareROSForTests ( argc, argv, "testSendAction" ) != 0 ) {
        
        std::cout << "[TEST ERROR] Prepare Function failed" << std::endl;
        return -1;
    }
    
    ::testing::InitGoogleTest ( &argc, argv );
    return RUN_ALL_TESTS();
}