moveit_task_constructor/core/test/models.cpp
v4hn e60a9793f1 fix test helper
never unload the plugin loader before the plugins (IK plugins here).
We don't have unrelated loaders in gtest executables, so the static should be fine.
2021-11-10 13:12:21 +01:00

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#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() {
static robot_model_loader::RobotModelLoader loader;
return loader.getModel();
}