moveit_task_constructor/core/test/models.cpp
Robert Haschke f99d03386a
Use RobotModelBuilder to simplify tests (#225)
* Simplify RobotModel definition using RobotModelBuilder
* Silent RobotModel errors once in models.cpp
2020-12-30 11:07:57 +01:00

24 lines
808 B
C++

#include "models.h"
#include <moveit/utils/robot_model_test_utils.h>
#include <moveit/robot_model_loader/robot_model_loader.h>
using namespace moveit::core;
RobotModelPtr getModel() {
// suppress RobotModel errors and warnings
ros::console::set_logger_level(ROSCONSOLE_ROOT_LOGGER_NAME ".moveit_core.robot_model", ros::console::levels::Fatal);
// create dummy robot model
moveit::core::RobotModelBuilder builder("robot", "base");
builder.addChain("base->link1->link2->tip", "continuous");
builder.addGroupChain("base", "link2", "group");
builder.addGroupChain("link2", "tip", "eef_group");
builder.addEndEffector("eef", "link2", "group", "eef_group");
return builder.build();
}
moveit::core::RobotModelPtr loadModel() {
robot_model_loader::RobotModelLoader loader;
return loader.getModel();
}