unittests

- provide simple hard-coded robot model
- test ComputeIK::init()
This commit is contained in:
Robert Haschke 2018-03-24 16:18:57 +01:00
parent f4adaa949a
commit 9e5e098339
4 changed files with 258 additions and 15 deletions

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@ -6,11 +6,11 @@
if (CATKIN_ENABLE_TESTING)
find_package(rostest REQUIRED)
add_library(gtest_utils gtest_value_printers.cpp)
add_library(gtest_utils gtest_value_printers.cpp models.cpp)
target_link_libraries(gtest_utils ${PROJECT_NAME})
add_rostest_gtest(${PROJECT_NAME}-test-stage test_stage.launch test_stage.cpp)
target_link_libraries(${PROJECT_NAME}-test-stage ${PROJECT_NAME} gtest_main)
catkin_add_gtest(${PROJECT_NAME}-test-stage test_stage.cpp)
target_link_libraries(${PROJECT_NAME}-test-stage ${PROJECT_NAME} ${PROJECT_NAME}_stages gtest_utils gtest_main)
catkin_add_gtest(${PROJECT_NAME}-test-container test_container.cpp)
target_link_libraries(${PROJECT_NAME}-test-container ${PROJECT_NAME} gtest_utils gtest_main)

194
core/test/models.cpp Normal file
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@ -0,0 +1,194 @@
#include "models.h"
#include <moveit/robot_model/robot_model.h>
#include <moveit/robot_model_loader/robot_model_loader.h>
#include <urdf_parser/urdf_parser.h>
using namespace moveit::core;
namespace {
const std::string R_MODEL0 =
"<?xml version=\"1.0\" ?>"
"<robot name=\"one_robot\">"
"<link name=\"base_link\">"
" <inertial>"
" <mass value=\"2.81\"/>"
" <origin rpy=\"0 0 0\" xyz=\"0.0 0.0 .0\"/>"
" <inertia ixx=\"0.1\" ixy=\"-0.2\" ixz=\"0.5\" iyy=\"-.09\" iyz=\"1\" izz=\"0.101\"/>"
" </inertial>"
" <collision name=\"my_collision\">"
" <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>"
" <geometry>"
" <box size=\"1 2 1\" />"
" </geometry>"
" </collision>"
" <visual>"
" <origin rpy=\"0 0 0\" xyz=\"0.0 0 0\"/>"
" <geometry>"
" <box size=\"1 2 1\" />"
" </geometry>"
" </visual>"
"</link>"
"<joint name=\"joint_a\" type=\"continuous\">"
" <axis xyz=\"0 0 1\"/>"
" <parent link=\"base_link\"/>"
" <child link=\"link_a\"/>"
" <origin rpy=\" 0.0 0 0 \" xyz=\"0.0 0 0 \"/>"
"</joint>"
"<link name=\"link_a\">"
" <inertial>"
" <mass value=\"1.0\"/>"
" <origin rpy=\"0 0 0\" xyz=\"0.0 0.0 .0\"/>"
" <inertia ixx=\"0.1\" ixy=\"-0.2\" ixz=\"0.5\" iyy=\"-.09\" iyz=\"1\" izz=\"0.101\"/>"
" </inertial>"
" <collision>"
" <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>"
" <geometry>"
" <box size=\"1 2 1\" />"
" </geometry>"
" </collision>"
" <visual>"
" <origin rpy=\"0 0 0\" xyz=\"0.0 0 0\"/>"
" <geometry>"
" <box size=\"1 2 1\" />"
" </geometry>"
" </visual>"
"</link>"
"<joint name=\"joint_b\" type=\"fixed\">"
" <parent link=\"link_a\"/>"
" <child link=\"link_b\"/>"
" <origin rpy=\" 0.0 -0.42 0 \" xyz=\"0.0 0.5 0 \"/>"
"</joint>"
"<link name=\"link_b\">"
" <inertial>"
" <mass value=\"1.0\"/>"
" <origin rpy=\"0 0 0\" xyz=\"0.0 0.0 .0\"/>"
" <inertia ixx=\"0.1\" ixy=\"-0.2\" ixz=\"0.5\" iyy=\"-.09\" iyz=\"1\" izz=\"0.101\"/>"
" </inertial>"
" <collision>"
" <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>"
" <geometry>"
" <box size=\"1 2 1\" />"
" </geometry>"
" </collision>"
" <visual>"
" <origin rpy=\"0 0 0\" xyz=\"0.0 0 0\"/>"
" <geometry>"
" <box size=\"1 2 1\" />"
" </geometry>"
" </visual>"
"</link>"
" <joint name=\"joint_c\" type=\"prismatic\">"
" <axis xyz=\"1 0 0\"/>"
" <limit effort=\"100.0\" lower=\"0.0\" upper=\"0.09\" velocity=\"0.2\"/>"
" <safety_controller k_position=\"20.0\" k_velocity=\"500.0\" soft_lower_limit=\"0.0\" "
"soft_upper_limit=\"0.089\"/>"
" <parent link=\"link_b\"/>"
" <child link=\"link_c\"/>"
" <origin rpy=\" 0.0 0.42 0.0 \" xyz=\"0.0 -0.1 0 \"/>"
" </joint>"
"<link name=\"link_c\">"
" <inertial>"
" <mass value=\"1.0\"/>"
" <origin rpy=\"0 0 0\" xyz=\"0.0 0 .0\"/>"
" <inertia ixx=\"0.1\" ixy=\"-0.2\" ixz=\"0.5\" iyy=\"-.09\" iyz=\"1\" izz=\"0.101\"/>"
" </inertial>"
" <collision>"
" <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>"
" <geometry>"
" <box size=\"1 2 1\" />"
" </geometry>"
" </collision>"
" <visual>"
" <origin rpy=\"0 0 0\" xyz=\"0.0 0 0\"/>"
" <geometry>"
" <box size=\"1 2 1\" />"
" </geometry>"
" </visual>"
"</link>"
" <joint name=\"mim_f\" type=\"prismatic\">"
" <axis xyz=\"1 0 0\"/>"
" <limit effort=\"100.0\" lower=\"0.0\" upper=\"0.19\" velocity=\"0.2\"/>"
" <parent link=\"link_c\"/>"
" <child link=\"link_d\"/>"
" <origin rpy=\" 0.0 0.1 0.0 \" xyz=\"0.1 0.1 0 \"/>"
" <mimic joint=\"joint_f\" multiplier=\"1.5\" offset=\"0.1\"/>"
" </joint>"
" <joint name=\"joint_f\" type=\"prismatic\">"
" <axis xyz=\"1 0 0\"/>"
" <limit effort=\"100.0\" lower=\"0.0\" upper=\"0.19\" velocity=\"0.2\"/>"
" <parent link=\"link_d\"/>"
" <child link=\"link_e\"/>"
" <origin rpy=\" 0.0 0.1 0.0 \" xyz=\"0.1 0.1 0 \"/>"
" </joint>"
"<link name=\"link_d\">"
" <collision>"
" <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>"
" <geometry>"
" <box size=\"1 2 1\" />"
" </geometry>"
" </collision>"
" <visual>"
" <origin rpy=\"0 1 0\" xyz=\"0 0.1 0\"/>"
" <geometry>"
" <box size=\"1 2 1\" />"
" </geometry>"
" </visual>"
"</link>"
"<link name=\"link_e\">"
" <collision>"
" <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>"
" <geometry>"
" <box size=\"1 2 1\" />"
" </geometry>"
" </collision>"
" <visual>"
" <origin rpy=\"0 1 0\" xyz=\"0 0.1 0\"/>"
" <geometry>"
" <box size=\"1 2 1\" />"
" </geometry>"
" </visual>"
"</link>"
"</robot>";
const std::string S_MODEL0 =
"<?xml version=\"1.0\" ?>"
"<robot name=\"one_robot\">"
"<virtual_joint name=\"base_joint\" child_link=\"base_link\" parent_frame=\"odom_combined\" type=\"planar\"/>"
"<group name=\"base_from_joints\">"
"<joint name=\"base_joint\"/>"
"<joint name=\"joint_a\"/>"
"<joint name=\"joint_c\"/>"
"</group>"
"<group name=\"mim_joints\">"
"<joint name=\"joint_f\"/>"
"<joint name=\"mim_f\"/>"
"</group>"
"<group name=\"base_with_subgroups\">"
"<group name=\"base_from_base_to_tip\"/>"
"<joint name=\"joint_c\"/>"
"</group>"
"<group name=\"base_from_base_to_tip\">"
"<chain base_link=\"base_link\" tip_link=\"link_b\"/>"
"<joint name=\"base_joint\"/>"
"</group>"
"<group name=\"base_with_bad_subgroups\">"
"<group name=\"error\"/>"
"</group>"
"<end_effector name=\"eef\" parent_link=\"link_b\" group=\"mim_joints\" parent_group=\"base_from_base_to_tip\"/>"
"</robot>";
}
RobotModelPtr getModel()
{
urdf::ModelInterfaceSharedPtr urdf_model = urdf::parseURDF(R_MODEL0);
srdf::ModelSharedPtr srdf_model(new srdf::Model());
srdf_model->initString(*urdf_model, S_MODEL0);
return RobotModelPtr(new RobotModel(urdf_model, srdf_model));
}
moveit::core::RobotModelPtr loadModel()
{
robot_model_loader::RobotModelLoader loader;
return loader.getModel();
}

13
core/test/models.h Normal file
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@ -0,0 +1,13 @@
#pragma once
#include <moveit/macros/class_forward.h>
namespace moveit { namespace core {
MOVEIT_CLASS_FORWARD(RobotModel)
} }
// get a hard-coded model
moveit::core::RobotModelPtr getModel();
// load a model from robot_description
moveit::core::RobotModelPtr loadModel();

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@ -1,10 +1,12 @@
#include <moveit/task_constructor/stage_p.h>
#include <moveit/planning_scene/planning_scene.h>
#include <moveit/robot_model_loader/robot_model_loader.h>
#include <ros/init.h>
#include "models.h"
#include <moveit/task_constructor/stage_p.h>
#include <moveit/task_constructor/stages/compute_ik.h>
#include <moveit/planning_scene/planning_scene.h>
#include <geometry_msgs/PoseStamped.h>
#include <ros/console.h>
#include <gtest/gtest.h>
#include <initializer_list>
using namespace moveit::task_constructor;
@ -15,27 +17,31 @@ class GeneratorMockup : public Generator {
public:
GeneratorMockup() : Generator("generator") {
robot_model_loader::RobotModelLoader loader;
ps.reset(new planning_scene::PlanningScene(loader.getModel()));
prev.reset(new Interface);
next.reset(new Interface);
pimpl()->setPrevEnds(prev);
pimpl()->setNextStarts(next);
}
void init(const moveit::core::RobotModelConstPtr &robot_model) {
ps.reset((new planning_scene::PlanningScene(robot_model)));
}
bool canCompute() const override { return true; }
bool compute() override {
spawn(InterfaceState(ps), 0.0);
InterfaceState state(ps);
state.properties().set("target_pose", geometry_msgs::PoseStamped());
spawn(std::move(state), 0.0);
return true;
}
};
TEST(Stage, registerCallbacks) {
int argc = 0;
char *argv = nullptr;
ros::init(argc, &argv, "testLocalTaskModel");
ros::console::set_logger_level(ROSCONSOLE_ROOT_LOGGER_NAME, ros::console::levels::Fatal);
GeneratorMockup g;
g.init(getModel());
uint called = 0;
auto cb = [&called](const SolutionBase &s) {
++called;
@ -50,3 +56,33 @@ TEST(Stage, registerCallbacks) {
g.compute();
EXPECT_EQ(called, 1);
}
TEST(ComputeIK, init) {
ros::console::set_logger_level(ROSCONSOLE_ROOT_LOGGER_NAME, ros::console::levels::Fatal);
auto g = std::make_unique<GeneratorMockup>();
stages::ComputeIK ik("ik", std::move(g));
moveit::core::RobotModelPtr robot_model = getModel();
auto& props = ik.properties();
// neither eef nor group defined should not throw
EXPECT_NO_THROW(ik.init(robot_model));
// invalid eef should throw
props.set("eef", std::string("undefined"));
EXPECT_THROW(ik.init(robot_model), InitStageException);
// valid eef should not throw
props.set("eef", std::string("eef"));
EXPECT_NO_THROW(ik.init(robot_model));
props.set("eef", boost::any());
// invalid group should throw
props.set("group", std::string("undefined"));
EXPECT_THROW(ik.init(robot_model), InitStageException);
// valid group should not throw
props.set("group", std::string("base_from_base_to_tip"));
EXPECT_NO_THROW(ik.init(robot_model));
}