#include <servo_launch_test_common.hpp>

Inheritance diagram for moveit_servo::ServoFixture:

Collaboration diagram for moveit_servo::ServoFixture:

Classes
struct	TestParameters

Public Member Functions
void	SetUp () override

	ServoFixture ()

void	TearDown () override

std::string	resolveServoTopicName (std::string topic_name)

bool	setupStartClient ()

bool	setupPauseClient ()

bool	setupUnpauseClient ()

bool	setupControlDimsClient ()

bool	setupDriftDimsClient ()

bool	setupCollisionScaleSub ()

bool	setupCommandSub (const std::string &command_type)

bool	setupJointStateSub ()

void	statusCB (const std_msgs::msg::Int8::ConstSharedPtr &msg)

void	collisionScaleCB (const std_msgs::msg::Float64::ConstSharedPtr &msg)

void	jointStateCB (const sensor_msgs::msg::JointState::ConstSharedPtr &msg)

void	trajectoryCommandCB (const trajectory_msgs::msg::JointTrajectory::ConstSharedPtr &msg)

void	arrayCommandCB (const std_msgs::msg::Float64MultiArray::ConstSharedPtr &msg)

StatusCode	getLatestStatus ()

size_t	getNumStatus ()

void	resetNumStatus ()

double	getLatestCollisionScale ()

size_t	getNumCollisionScale ()

void	resetNumCollisionScale ()

sensor_msgs::msg::JointState	getLatestJointState ()

size_t	getNumJointState ()

void	resetNumJointState ()

trajectory_msgs::msg::JointTrajectory	getLatestTrajCommand ()

std_msgs::msg::Float64MultiArray	getLatestArrayCommand ()

size_t	getNumCommands ()

void	resetNumCommands ()

void	watchForStatus (StatusCode code_to_watch_for)

bool	sawTrackedStatus ()

bool	start ()

bool	stop ()

Protected Attributes
rclcpp::Node::SharedPtr	node_

rclcpp::Executor::SharedPtr	executor_

std::thread	executor_thread_

std::shared_ptr< const moveit_servo::ServoParameters >	servo_parameters_

std::shared_ptr< const struct TestParameters >	test_parameters_

rclcpp::Client< std_srvs::srv::Trigger >::SharedPtr	client_servo_start_

rclcpp::Client< std_srvs::srv::Trigger >::SharedPtr	client_servo_stop_

rclcpp::Client< std_srvs::srv::Trigger >::SharedPtr	client_servo_pause_

rclcpp::Client< std_srvs::srv::Trigger >::SharedPtr	client_servo_unpause_

rclcpp::Client< moveit_msgs::srv::ChangeControlDimensions >::SharedPtr	client_change_control_dims_

rclcpp::Client< moveit_msgs::srv::ChangeDriftDimensions >::SharedPtr	client_change_drift_dims_

rclcpp::Publisher< geometry_msgs::msg::TwistStamped >::SharedPtr	pub_twist_cmd_

rclcpp::Publisher< control_msgs::msg::JointJog >::SharedPtr	pub_joint_cmd_

rclcpp::Subscription< std_msgs::msg::Int8 >::SharedPtr	sub_servo_status_

rclcpp::Subscription< std_msgs::msg::Float64 >::SharedPtr	sub_collision_scale_

rclcpp::Subscription< sensor_msgs::msg::JointState >::SharedPtr	sub_joint_state_

rclcpp::Subscription< trajectory_msgs::msg::JointTrajectory >::SharedPtr	sub_trajectory_cmd_output_

rclcpp::Subscription< std_msgs::msg::Float64MultiArray >::SharedPtr	sub_array_cmd_output_

size_t	num_status_

StatusCode	latest_status_ = StatusCode::NO_WARNING

size_t	num_collision_scale_

double	latest_collision_scale_

size_t	num_joint_state_

sensor_msgs::msg::JointState::ConstSharedPtr	latest_joint_state_

size_t	num_commands_

trajectory_msgs::msg::JointTrajectory::ConstSharedPtr	latest_traj_cmd_

std_msgs::msg::Float64MultiArray::ConstSharedPtr	latest_array_cmd_

bool	status_seen_

StatusCode	status_tracking_code_ = StatusCode::NO_WARNING

std::mutex	latest_state_mutex_

Detailed Description

Definition at line 70 of file servo_launch_test_common.hpp.

Constructor & Destructor Documentation

◆ ServoFixture()

moveit_servo::ServoFixture::ServoFixture ( )

inline

Definition at line 80 of file servo_launch_test_common.hpp.

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Member Function Documentation

◆ arrayCommandCB()

void moveit_servo::ServoFixture::arrayCommandCB ( const std_msgs::msg::Float64MultiArray::ConstSharedPtr & msg )

inline

Definition at line 302 of file servo_launch_test_common.hpp.

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◆ collisionScaleCB()

void moveit_servo::ServoFixture::collisionScaleCB ( const std_msgs::msg::Float64::ConstSharedPtr & msg )

inline

Definition at line 281 of file servo_launch_test_common.hpp.

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◆ getLatestArrayCommand()

std_msgs::msg::Float64MultiArray moveit_servo::ServoFixture::getLatestArrayCommand ( )

inline

Definition at line 369 of file servo_launch_test_common.hpp.

◆ getLatestCollisionScale()

double moveit_servo::ServoFixture::getLatestCollisionScale ( )

inline

Definition at line 327 of file servo_launch_test_common.hpp.

◆ getLatestJointState()

sensor_msgs::msg::JointState moveit_servo::ServoFixture::getLatestJointState ( )

inline

Definition at line 345 of file servo_launch_test_common.hpp.

◆ getLatestStatus()

StatusCode moveit_servo::ServoFixture::getLatestStatus ( )

inline

Definition at line 309 of file servo_launch_test_common.hpp.

◆ getLatestTrajCommand()

trajectory_msgs::msg::JointTrajectory moveit_servo::ServoFixture::getLatestTrajCommand ( )

inline

Definition at line 363 of file servo_launch_test_common.hpp.

◆ getNumCollisionScale()

size_t moveit_servo::ServoFixture::getNumCollisionScale ( )

inline

Definition at line 333 of file servo_launch_test_common.hpp.

◆ getNumCommands()

size_t moveit_servo::ServoFixture::getNumCommands ( )

inline

Definition at line 375 of file servo_launch_test_common.hpp.

◆ getNumJointState()

size_t moveit_servo::ServoFixture::getNumJointState ( )

inline

Definition at line 351 of file servo_launch_test_common.hpp.

◆ getNumStatus()

size_t moveit_servo::ServoFixture::getNumStatus ( )

inline

Definition at line 315 of file servo_launch_test_common.hpp.

◆ jointStateCB()

void moveit_servo::ServoFixture::jointStateCB ( const sensor_msgs::msg::JointState::ConstSharedPtr & msg )

inline

Definition at line 288 of file servo_launch_test_common.hpp.

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◆ resetNumCollisionScale()

void moveit_servo::ServoFixture::resetNumCollisionScale ( )

inline

Definition at line 339 of file servo_launch_test_common.hpp.

◆ resetNumCommands()

void moveit_servo::ServoFixture::resetNumCommands ( )

inline

Definition at line 381 of file servo_launch_test_common.hpp.

◆ resetNumJointState()

void moveit_servo::ServoFixture::resetNumJointState ( )

inline

Definition at line 357 of file servo_launch_test_common.hpp.

◆ resetNumStatus()

void moveit_servo::ServoFixture::resetNumStatus ( )

inline

Definition at line 321 of file servo_launch_test_common.hpp.

◆ resolveServoTopicName()

std::string moveit_servo::ServoFixture::resolveServoTopicName ( std::string topic_name )

inline

Definition at line 123 of file servo_launch_test_common.hpp.

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◆ sawTrackedStatus()

bool moveit_servo::ServoFixture::sawTrackedStatus ( )

inline

Definition at line 394 of file servo_launch_test_common.hpp.

◆ SetUp()

void moveit_servo::ServoFixture::SetUp ( )

inlineoverride

Definition at line 73 of file servo_launch_test_common.hpp.

◆ setupCollisionScaleSub()

bool moveit_servo::ServoFixture::setupCollisionScaleSub ( )

inline

Definition at line 233 of file servo_launch_test_common.hpp.

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◆ setupCommandSub()

bool moveit_servo::ServoFixture::setupCommandSub ( const std::string & command_type )

inline

Definition at line 241 of file servo_launch_test_common.hpp.

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◆ setupControlDimsClient()

bool moveit_servo::ServoFixture::setupControlDimsClient ( )

inline

Definition at line 199 of file servo_launch_test_common.hpp.

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◆ setupDriftDimsClient()

bool moveit_servo::ServoFixture::setupDriftDimsClient ( )

inline

Definition at line 216 of file servo_launch_test_common.hpp.

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◆ setupJointStateSub()

bool moveit_servo::ServoFixture::setupJointStateSub ( )

inline

Definition at line 264 of file servo_launch_test_common.hpp.

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◆ setupPauseClient()

bool moveit_servo::ServoFixture::setupPauseClient ( )

inline

Definition at line 167 of file servo_launch_test_common.hpp.

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◆ setupStartClient()

bool moveit_servo::ServoFixture::setupStartClient ( )

inline

Definition at line 132 of file servo_launch_test_common.hpp.

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◆ setupUnpauseClient()

bool moveit_servo::ServoFixture::setupUnpauseClient ( )

inline

Definition at line 183 of file servo_launch_test_common.hpp.

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◆ start()

bool moveit_servo::ServoFixture::start ( )

inline

Definition at line 400 of file servo_launch_test_common.hpp.

◆ statusCB()

void moveit_servo::ServoFixture::statusCB ( const std_msgs::msg::Int8::ConstSharedPtr & msg )

inline

Definition at line 272 of file servo_launch_test_common.hpp.

◆ stop()

bool moveit_servo::ServoFixture::stop ( )

inline

Definition at line 432 of file servo_launch_test_common.hpp.

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◆ TearDown()

void moveit_servo::ServoFixture::TearDown ( )

inlineoverride

Definition at line 110 of file servo_launch_test_common.hpp.

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◆ trajectoryCommandCB()

void moveit_servo::ServoFixture::trajectoryCommandCB ( const trajectory_msgs::msg::JointTrajectory::ConstSharedPtr & msg )

inline

Definition at line 295 of file servo_launch_test_common.hpp.

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◆ watchForStatus()

void moveit_servo::ServoFixture::watchForStatus ( StatusCode code_to_watch_for )

inline

Definition at line 387 of file servo_launch_test_common.hpp.

Member Data Documentation

◆ client_change_control_dims_

rclcpp::Client<moveit_msgs::srv::ChangeControlDimensions>::SharedPtr moveit_servo::ServoFixture::client_change_control_dims_

protected

Definition at line 466 of file servo_launch_test_common.hpp.

◆ client_change_drift_dims_

rclcpp::Client<moveit_msgs::srv::ChangeDriftDimensions>::SharedPtr moveit_servo::ServoFixture::client_change_drift_dims_

protected

Definition at line 467 of file servo_launch_test_common.hpp.

◆ client_servo_pause_

rclcpp::Client<std_srvs::srv::Trigger>::SharedPtr moveit_servo::ServoFixture::client_servo_pause_

protected

Definition at line 464 of file servo_launch_test_common.hpp.

◆ client_servo_start_

rclcpp::Client<std_srvs::srv::Trigger>::SharedPtr moveit_servo::ServoFixture::client_servo_start_

protected

Definition at line 462 of file servo_launch_test_common.hpp.

◆ client_servo_stop_

rclcpp::Client<std_srvs::srv::Trigger>::SharedPtr moveit_servo::ServoFixture::client_servo_stop_

protected

Definition at line 463 of file servo_launch_test_common.hpp.

◆ client_servo_unpause_

rclcpp::Client<std_srvs::srv::Trigger>::SharedPtr moveit_servo::ServoFixture::client_servo_unpause_

protected

Definition at line 465 of file servo_launch_test_common.hpp.

◆ executor_

rclcpp::Executor::SharedPtr moveit_servo::ServoFixture::executor_

protected

Definition at line 446 of file servo_launch_test_common.hpp.

◆ executor_thread_

std::thread moveit_servo::ServoFixture::executor_thread_

protected

Definition at line 447 of file servo_launch_test_common.hpp.

◆ latest_array_cmd_

std_msgs::msg::Float64MultiArray::ConstSharedPtr moveit_servo::ServoFixture::latest_array_cmd_

protected

Definition at line 492 of file servo_launch_test_common.hpp.

◆ latest_collision_scale_

double moveit_servo::ServoFixture::latest_collision_scale_

protected

Definition at line 485 of file servo_launch_test_common.hpp.

◆ latest_joint_state_

sensor_msgs::msg::JointState::ConstSharedPtr moveit_servo::ServoFixture::latest_joint_state_

protected

Definition at line 488 of file servo_launch_test_common.hpp.

◆ latest_state_mutex_

std::mutex moveit_servo::ServoFixture::latest_state_mutex_

mutableprotected

Definition at line 497 of file servo_launch_test_common.hpp.

◆ latest_status_

StatusCode moveit_servo::ServoFixture::latest_status_ = StatusCode::NO_WARNING

protected

Definition at line 482 of file servo_launch_test_common.hpp.

◆ latest_traj_cmd_

trajectory_msgs::msg::JointTrajectory::ConstSharedPtr moveit_servo::ServoFixture::latest_traj_cmd_

protected

Definition at line 491 of file servo_launch_test_common.hpp.

◆ node_

rclcpp::Node::SharedPtr moveit_servo::ServoFixture::node_

protected

Definition at line 445 of file servo_launch_test_common.hpp.

◆ num_collision_scale_

size_t moveit_servo::ServoFixture::num_collision_scale_

protected

Definition at line 484 of file servo_launch_test_common.hpp.

◆ num_commands_

size_t moveit_servo::ServoFixture::num_commands_

protected

Definition at line 490 of file servo_launch_test_common.hpp.

◆ num_joint_state_

size_t moveit_servo::ServoFixture::num_joint_state_

protected

Definition at line 487 of file servo_launch_test_common.hpp.

◆ num_status_

size_t moveit_servo::ServoFixture::num_status_

protected

Definition at line 481 of file servo_launch_test_common.hpp.

◆ pub_joint_cmd_

rclcpp::Publisher<control_msgs::msg::JointJog>::SharedPtr moveit_servo::ServoFixture::pub_joint_cmd_

protected

Definition at line 471 of file servo_launch_test_common.hpp.

◆ pub_twist_cmd_

rclcpp::Publisher<geometry_msgs::msg::TwistStamped>::SharedPtr moveit_servo::ServoFixture::pub_twist_cmd_

protected

Definition at line 470 of file servo_launch_test_common.hpp.

◆ servo_parameters_

std::shared_ptr<const moveit_servo::ServoParameters> moveit_servo::ServoFixture::servo_parameters_

protected

Definition at line 448 of file servo_launch_test_common.hpp.

◆ status_seen_

bool moveit_servo::ServoFixture::status_seen_

protected

Definition at line 494 of file servo_launch_test_common.hpp.

◆ status_tracking_code_

StatusCode moveit_servo::ServoFixture::status_tracking_code_ = StatusCode::NO_WARNING

protected

Definition at line 495 of file servo_launch_test_common.hpp.

◆ sub_array_cmd_output_

rclcpp::Subscription<std_msgs::msg::Float64MultiArray>::SharedPtr moveit_servo::ServoFixture::sub_array_cmd_output_

protected

Definition at line 478 of file servo_launch_test_common.hpp.

◆ sub_collision_scale_

rclcpp::Subscription<std_msgs::msg::Float64>::SharedPtr moveit_servo::ServoFixture::sub_collision_scale_

protected

Definition at line 475 of file servo_launch_test_common.hpp.

◆ sub_joint_state_

rclcpp::Subscription<sensor_msgs::msg::JointState>::SharedPtr moveit_servo::ServoFixture::sub_joint_state_

protected

Definition at line 476 of file servo_launch_test_common.hpp.

◆ sub_servo_status_

rclcpp::Subscription<std_msgs::msg::Int8>::SharedPtr moveit_servo::ServoFixture::sub_servo_status_

protected

Definition at line 474 of file servo_launch_test_common.hpp.

◆ sub_trajectory_cmd_output_

rclcpp::Subscription<trajectory_msgs::msg::JointTrajectory>::SharedPtr moveit_servo::ServoFixture::sub_trajectory_cmd_output_

protected

Definition at line 477 of file servo_launch_test_common.hpp.

◆ test_parameters_

std::shared_ptr<const struct TestParameters> moveit_servo::ServoFixture::test_parameters_

protected

Definition at line 457 of file servo_launch_test_common.hpp.

The documentation for this class was generated from the following file:

moveit_ros/moveit_servo/test/servo_launch_test_common.hpp

Classes

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ServoFixture()

Member Function Documentation

◆ arrayCommandCB()

◆ collisionScaleCB()

◆ getLatestArrayCommand()

◆ getLatestCollisionScale()

◆ getLatestJointState()

◆ getLatestStatus()

◆ getLatestTrajCommand()

◆ getNumCollisionScale()

◆ getNumCommands()

◆ getNumJointState()

◆ getNumStatus()

◆ jointStateCB()

◆ resetNumCollisionScale()

◆ resetNumCommands()

◆ resetNumJointState()

◆ resetNumStatus()

◆ resolveServoTopicName()

◆ sawTrackedStatus()

◆ SetUp()

◆ setupCollisionScaleSub()

◆ setupCommandSub()

◆ setupControlDimsClient()

◆ setupDriftDimsClient()

◆ setupJointStateSub()

◆ setupPauseClient()

◆ setupStartClient()

◆ setupUnpauseClient()

◆ start()

◆ statusCB()

◆ stop()

◆ TearDown()

◆ trajectoryCommandCB()

◆ watchForStatus()

Member Data Documentation

◆ client_change_control_dims_

◆ client_change_drift_dims_

◆ client_servo_pause_

◆ client_servo_start_

◆ client_servo_stop_

◆ client_servo_unpause_

◆ executor_

◆ executor_thread_

◆ latest_array_cmd_

◆ latest_collision_scale_

◆ latest_joint_state_

◆ latest_state_mutex_

◆ latest_status_

◆ latest_traj_cmd_

◆ node_

◆ num_collision_scale_

◆ num_commands_

◆ num_joint_state_

◆ num_status_

◆ pub_joint_cmd_

◆ pub_twist_cmd_

◆ servo_parameters_

◆ status_seen_

◆ status_tracking_code_

◆ sub_array_cmd_output_

◆ sub_collision_scale_

◆ sub_joint_state_

◆ sub_servo_status_

◆ sub_trajectory_cmd_output_

◆ test_parameters_