Integration/Unit Tests¶

Getting Started¶

If you haven’t already done so, make sure you’ve completed the steps in Getting Started.

Integration Test¶

A Python-based integration test is available for testing higher-level move_group functionality in MoveIt - to run:

rostest moveit_ros_planning_interface python_move_group.test

Test Robots¶

Panda

From the package panda_moveit_config:

roslaunch panda_moveit_config demo.launch

Fanuc M-10iA

From the package moveit_resources:

roslaunch moveit_resources demo.launch

Unit Tests¶

To run unit tests locally on the entire MoveIt catkin workspace using catkin-tools:

catkin run_tests -iv

To run a test for just 1 package:

catkin run_tests --no-deps --this -iv

Kinematic Tests¶

An additional test suite for the KinematicBase features in MoveIt is available in the package moveit_kinematic_tests.