integrationtest_command_list_manager.cpp

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#include <memory>
#include <string>
 
#include <gtest/gtest.h>
 
#include <functional>
#include <ros/ros.h>
#include <ros/time.h>
 
#include <moveit/kinematic_constraints/utils.h>
#include <moveit/planning_scene/planning_scene.h>
#include <moveit/robot_model_loader/robot_model_loader.h>
#include <moveit_msgs/DisplayTrajectory.h>
#include <moveit_msgs/MotionPlanResponse.h>
 
#include <tf2_eigen/tf2_eigen.hpp>
 
#include <pilz_industrial_motion_planner_testutils/gripper.h>
#include <pilz_industrial_motion_planner_testutils/lin.h>
#include <pilz_industrial_motion_planner_testutils/sequence.h>
#include <pilz_industrial_motion_planner_testutils/xml_testdata_loader.h>
 
#include "test_utils.h"
 
#include <pilz_industrial_motion_planner/command_list_manager.h>
#include <pilz_industrial_motion_planner/tip_frame_getter.h>
 
const std::string ROBOT_DESCRIPTION_STR{ "robot_description" };
const std::string EMPTY_VALUE{ "" };
 
const std::string TEST_DATA_FILE_NAME("testdata_file_name");
 
using testutils::hasStrictlyIncreasingTime;
using namespace pilz_industrial_motion_planner;
using namespace pilz_industrial_motion_planner_testutils;
 
static std::string createManipulatorJointName(const size_t& joint_number)
{
  return std::string("prbt_joint_") + std::to_string(joint_number + 1);
}
 
static std::string createGripperJointName(const size_t& joint_number)
{
  switch (joint_number)
  {
    case 0:
      return "prbt_gripper_finger_left_joint";
    default:
      break;
  }
  throw std::runtime_error("Could not create gripper joint name");
}
 
class IntegrationTestCommandListManager : public testing::Test
{
protected:
  void SetUp() override;
 
protected:
  // ros stuff
  ros::NodeHandle ph_{ "~" };
  robot_model::RobotModelConstPtr robot_model_{ robot_model_loader::RobotModelLoader(ROBOT_DESCRIPTION_STR).getModel() };
  std::shared_ptr<pilz_industrial_motion_planner::CommandListManager> manager_;
  planning_scene::PlanningScenePtr scene_;
  planning_pipeline::PlanningPipelinePtr pipeline_;
 
  std::unique_ptr<pilz_industrial_motion_planner_testutils::TestdataLoader> data_loader_;
};
 
void IntegrationTestCommandListManager::SetUp()
{
  // get necessary parameters
  if (!robot_model_)
  {
    FAIL() << "Robot model could not be loaded.";
  }
 
  std::string test_data_file_name;
  ASSERT_TRUE(ph_.getParam(TEST_DATA_FILE_NAME, test_data_file_name));
 
  // load the test data provider
  data_loader_ =
      std::make_unique<pilz_industrial_motion_planner_testutils::XmlTestdataLoader>(test_data_file_name, robot_model_);
  ASSERT_NE(nullptr, data_loader_) << "Failed to load test data by provider.";
 
  // Define and set the current scene and manager test object
  manager_ = std::make_shared<pilz_industrial_motion_planner::CommandListManager>(ph_, robot_model_);
  scene_ = std::make_shared<planning_scene::PlanningScene>(robot_model_);
  pipeline_ = std::make_shared<planning_pipeline::PlanningPipeline>(robot_model_, ph_);
}
 
TEST_F(IntegrationTestCommandListManager, TestExceptionErrorCodeMapping)
{
  std::shared_ptr<NegativeBlendRadiusException> nbr_ex{ new NegativeBlendRadiusException("") };
  EXPECT_EQ(nbr_ex->getErrorCode(), moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN);
 
  std::shared_ptr<LastBlendRadiusNotZeroException> lbrnz_ex{ new LastBlendRadiusNotZeroException("") };
  EXPECT_EQ(lbrnz_ex->getErrorCode(), moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN);
 
  std::shared_ptr<StartStateSetException> sss_ex{ new StartStateSetException("") };
  EXPECT_EQ(sss_ex->getErrorCode(), moveit_msgs::msg::MoveItErrorCodes::INVALID_ROBOT_STATE);
 
  std::shared_ptr<OverlappingBlendRadiiException> obr_ex{ new OverlappingBlendRadiiException("") };
  EXPECT_EQ(obr_ex->getErrorCode(), moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN);
 
  std::shared_ptr<PlanningPipelineException> pp_ex{ new PlanningPipelineException("") };
  EXPECT_EQ(pp_ex->getErrorCode(), moveit_msgs::msg::MoveItErrorCodes::FAILURE);
}
 
TEST_F(IntegrationTestCommandListManager, concatThreeSegments)
{
  Sequence seq{ data_loader_->getSequence("ComplexSequence") };
  ASSERT_GE(seq.size(), 3u);
  seq.erase(3, seq.size());
  seq.setAllBlendRadiiToZero();
 
  RobotTrajCont res123_vec{ manager_->solve(scene_, pipeline_, seq.toRequest()) };
  EXPECT_EQ(res123_vec.size(), 1u);
  EXPECT_GT(res123_vec.front()->getWayPointCount(), 0u);
  EXPECT_TRUE(hasStrictlyIncreasingTime(res123_vec.front())) << "Time steps not strictly positively increasing";
 
  ROS_INFO("step 2: only first segment");
  moveit_msgs::msg::MotionSequenceRequest req_1;
  req_1.items.resize(1);
  req_1.items.at(0).req = seq.getCmd(0).toRequest();
  req_1.items.at(0).blend_radius = 0.;
  RobotTrajCont res1_vec{ manager_->solve(scene_, pipeline_, req_1) };
  EXPECT_EQ(res1_vec.size(), 1u);
  EXPECT_GT(res1_vec.front()->getWayPointCount(), 0u);
  EXPECT_EQ(res1_vec.front()->getFirstWayPoint().getVariableCount(),
            req_1.items.at(0).req.start_state.joint_state.name.size());
 
  ROS_INFO("step 3: only second segment");
  moveit_msgs::msg::MotionSequenceRequest req_2;
  req_2.items.resize(1);
  req_2.items.at(0).req = seq.getCmd(1).toRequest();
  req_2.items.at(0).blend_radius = 0.;
  RobotTrajCont res2_vec{ manager_->solve(scene_, pipeline_, req_2) };
  EXPECT_EQ(res2_vec.size(), 1u);
  EXPECT_GT(res2_vec.front()->getWayPointCount(), 0u);
  EXPECT_EQ(res2_vec.front()->getFirstWayPoint().getVariableCount(),
            req_2.items.at(0).req.start_state.joint_state.name.size());
 
  ROS_INFO("step 4: only third segment");
  moveit_msgs::msg::MotionSequenceRequest req_3;
  req_3.items.resize(1);
  req_3.items.at(0).req = seq.getCmd(2).toRequest();
  req_3.items.at(0).blend_radius = 0.;
  RobotTrajCont res3_vec{ manager_->solve(scene_, pipeline_, req_3) };
  EXPECT_EQ(res3_vec.size(), 1u);
  EXPECT_GT(res3_vec.front()->getWayPointCount(), 0u);
  EXPECT_EQ(res3_vec.front()->getFirstWayPoint().getVariableCount(),
            req_3.items.at(0).req.start_state.joint_state.name.size());
 
  // durations for the different segments
  auto t1_2_3 = res123_vec.front()->getWayPointDurationFromStart(res123_vec.front()->getWayPointCount() - 1);
  auto t1 = res1_vec.front()->getWayPointDurationFromStart(res123_vec.front()->getWayPointCount() - 1);
  auto t2 = res2_vec.front()->getWayPointDurationFromStart(res123_vec.front()->getWayPointCount() - 1);
  auto t3 = res3_vec.front()->getWayPointDurationFromStart(res123_vec.front()->getWayPointCount() - 1);
  ROS_DEBUG_STREAM("total time: " << t1_2_3 << " t1:" << t1 << " t2:" << t2 << " t3:" << t3);
  EXPECT_LT(fabs((t1_2_3 - t1 - t2 - t3)), 0.4);
}
 
TEST_F(IntegrationTestCommandListManager, concatSegmentsSelectiveBlending)
{
  Sequence seq{ data_loader_->getSequence("ComplexSequence") };
  ASSERT_GE(seq.size(), 3u);
  seq.erase(3, seq.size());
  seq.setAllBlendRadiiToZero();
  seq.setBlendRadius(0, 0.1);
  RobotTrajCont res1{ manager_->solve(scene_, pipeline_, seq.toRequest()) };
  EXPECT_EQ(res1.size(), 1u);
  EXPECT_GT(res1.front()->getWayPointCount(), 0u);
  EXPECT_TRUE(hasStrictlyIncreasingTime(res1.front())) << "Time steps not strictly positively increasing";
 
  seq.setAllBlendRadiiToZero();
  seq.setBlendRadius(1, 0.1);
  RobotTrajCont res2{ manager_->solve(scene_, pipeline_, seq.toRequest()) };
  EXPECT_EQ(res2.size(), 1u);
  EXPECT_GT(res2.front()->getWayPointCount(), 0u);
  EXPECT_TRUE(hasStrictlyIncreasingTime(res2.front())) << "Time steps not strictly positively increasing";
}
 
TEST_F(IntegrationTestCommandListManager, concatTwoPtpSegments)
{
  Sequence seq{ data_loader_->getSequence("PtpPtpSequence") };
  ASSERT_GE(seq.size(), 2u);
  seq.setAllBlendRadiiToZero();
 
  RobotTrajCont res_vec{ manager_->solve(scene_, pipeline_, seq.toRequest()) };
  EXPECT_EQ(res_vec.size(), 1u);
  EXPECT_GT(res_vec.front()->getWayPointCount(), 0u);
  EXPECT_TRUE(hasStrictlyIncreasingTime(res_vec.front()));
}
 
TEST_F(IntegrationTestCommandListManager, concatPtpAndLinSegments)
{
  Sequence seq{ data_loader_->getSequence("PtpLinSequence") };
  ASSERT_GE(seq.size(), 2u);
  seq.setAllBlendRadiiToZero();
 
  RobotTrajCont res_vec{ manager_->solve(scene_, pipeline_, seq.toRequest()) };
  EXPECT_EQ(res_vec.size(), 1u);
  EXPECT_GT(res_vec.front()->getWayPointCount(), 0u);
  EXPECT_TRUE(hasStrictlyIncreasingTime(res_vec.front()));
}
 
TEST_F(IntegrationTestCommandListManager, concatLinAndPtpSegments)
{
  Sequence seq{ data_loader_->getSequence("LinPtpSequence") };
  ASSERT_GE(seq.size(), 2u);
  seq.setAllBlendRadiiToZero();
 
  RobotTrajCont res_vec{ manager_->solve(scene_, pipeline_, seq.toRequest()) };
  EXPECT_EQ(res_vec.size(), 1u);
  EXPECT_GT(res_vec.front()->getWayPointCount(), 0u);
  EXPECT_TRUE(hasStrictlyIncreasingTime(res_vec.front()));
}
 
TEST_F(IntegrationTestCommandListManager, blendTwoSegments)
{
  Sequence seq{ data_loader_->getSequence("SimpleSequence") };
  ASSERT_EQ(seq.size(), 2u);
  moveit_msgs::msg::MotionSequenceRequest req{ seq.toRequest() };
  RobotTrajCont res_vec{ manager_->solve(scene_, pipeline_, req) };
  EXPECT_EQ(res_vec.size(), 1u);
  EXPECT_GT(res_vec.front()->getWayPointCount(), 0u);
  EXPECT_EQ(res_vec.front()->getFirstWayPoint().getVariableCount(),
            req.items.at(0).req.start_state.joint_state.name.size());
 
  ros::NodeHandle nh;
  ros::Publisher pub = nh.advertise<moveit_msgs::msg::DisplayTrajectory>("my_planned_path", 1);
  ros::Duration duration(1.0);  // wait to notify possible subscribers
  duration.sleep();
 
  moveit_msgs::msg::DisplayTrajectory display_trajectory;
  moveit_msgs::msg::RobotTrajectory rob_traj_msg;
  res_vec.front()->getRobotTrajectoryMsg(rob_traj_msg);
  display_trajectory.trajectory.push_back(rob_traj_msg);
  pub.publish(display_trajectory);
}
 
// ------------------
// FAILURE cases
// ------------------
 
TEST_F(IntegrationTestCommandListManager, emptyList)
{
  moveit_msgs::msg::MotionSequenceRequest empty_list;
  RobotTrajCont res_vec{ manager_->solve(scene_, pipeline_, empty_list) };
  EXPECT_TRUE(res_vec.empty());
}
 
TEST_F(IntegrationTestCommandListManager, firstGoalNotReachable)
{
  Sequence seq{ data_loader_->getSequence("SimpleSequence") };
  ASSERT_GE(seq.size(), 2u);
  LinCart& lin{ seq.getCmd<LinCart>(0) };
  lin.getGoalConfiguration().getPose().position.y = 2700;
  EXPECT_THROW(manager_->solve(scene_, pipeline_, seq.toRequest()), PlanningPipelineException);
}
 
TEST_F(IntegrationTestCommandListManager, startStateNotFirstGoal)
{
  Sequence seq{ data_loader_->getSequence("SimpleSequence") };
  ASSERT_GE(seq.size(), 2u);
  const LinCart& lin{ seq.getCmd<LinCart>(0) };
  moveit_msgs::msg::MotionSequenceRequest req{ seq.toRequest() };
  req.items.at(1).req.start_state = lin.getGoalConfiguration().toMoveitMsgsRobotState();
  EXPECT_THROW(manager_->solve(scene_, pipeline_, req), StartStateSetException);
}
 
TEST_F(IntegrationTestCommandListManager, blendingRadiusNegative)
{
  Sequence seq{ data_loader_->getSequence("SimpleSequence") };
  ASSERT_GE(seq.size(), 2u);
  seq.setBlendRadius(0, -0.3);
  EXPECT_THROW(manager_->solve(scene_, pipeline_, seq.toRequest()), NegativeBlendRadiusException);
}
 
TEST_F(IntegrationTestCommandListManager, lastBlendingRadiusNonZero)
{
  Sequence seq{ data_loader_->getSequence("SimpleSequence") };
  ASSERT_EQ(seq.size(), 2u);
  seq.setBlendRadius(1, 0.03);
  EXPECT_THROW(manager_->solve(scene_, pipeline_, seq.toRequest()), LastBlendRadiusNotZeroException);
}
 
TEST_F(IntegrationTestCommandListManager, blendRadiusGreaterThanSegment)
{
  Sequence seq{ data_loader_->getSequence("SimpleSequence") };
  ASSERT_GE(seq.size(), 2u);
  seq.setBlendRadius(0, 42.0);
  EXPECT_THROW(manager_->solve(scene_, pipeline_, seq.toRequest()), BlendingFailedException);
}
 
TEST_F(IntegrationTestCommandListManager, blendingRadiusOverlapping)
{
  Sequence seq{ data_loader_->getSequence("ComplexSequence") };
  ASSERT_GE(seq.size(), 3u);
  seq.erase(3, seq.size());
 
  RobotTrajCont res_valid_vec{ manager_->solve(scene_, pipeline_, seq.toRequest()) };
  EXPECT_EQ(res_valid_vec.size(), 1u);
  EXPECT_GT(res_valid_vec.front()->getWayPointCount(), 0u);
 
  // calculate distance from first to second goal
  const PtpJointCart& ptp{ seq.getCmd<PtpJointCart>(0) };
  const CircInterimCart& circ{ seq.getCmd<CircInterimCart>(1) };
  Eigen::Isometry3d p1, p2;
  tf2::fromMsg(ptp.getGoalConfiguration().getPose(), p1);
  tf2::fromMsg(circ.getGoalConfiguration().getPose(), p2);
  auto distance = (p2.translation() - p1.translation()).norm();
 
  seq.setBlendRadius(1, (distance - seq.getBlendRadius(0) + 0.01));  // overlapping radii
  EXPECT_THROW(manager_->solve(scene_, pipeline_, seq.toRequest()), OverlappingBlendRadiiException);
}
 
TEST_F(IntegrationTestCommandListManager, TestExecutionTime)
{
  Sequence seq{ data_loader_->getSequence("ComplexSequence") };
  ASSERT_GE(seq.size(), 2u);
  RobotTrajCont res_single_vec{ manager_->solve(scene_, pipeline_, seq.toRequest()) };
  EXPECT_EQ(res_single_vec.size(), 1u);
  EXPECT_GT(res_single_vec.front()->getWayPointCount(), 0u);
 
  moveit_msgs::msg::MotionSequenceRequest req{ seq.toRequest() };
  // Create large request by making copies of the original sequence commands
  // and adding them to the end of the original sequence.
  const size_t n{ req.items.size() };
  for (size_t i = 0; i < n; ++i)
  {
    moveit_msgs::msg::MotionSequenceItem item{ req.items.at(i) };
    if (i == 0)
    {
      // Remove start state because only the first request
      // is allowed to have a start state in a sequence.
      item.req.start_state = moveit_msgs::msg::RobotState();
    }
    req.items.push_back(item);
  }
 
  RobotTrajCont res_n_vec{ manager_->solve(scene_, pipeline_, req) };
  EXPECT_EQ(res_n_vec.size(), 1u);
  EXPECT_GT(res_n_vec.front()->getWayPointCount(), 0u);
 
  const double trajectory_time_1 =
      res_single_vec.front()->getWayPointDurationFromStart(res_single_vec.front()->getWayPointCount() - 1);
  const double trajectory_time_n =
      res_n_vec.front()->getWayPointDurationFromStart(res_n_vec.front()->getWayPointCount() - 1);
  double multiplicator = req.items.size() / n;
  EXPECT_LE(trajectory_time_n, trajectory_time_1 * multiplicator);
  EXPECT_GE(trajectory_time_n, trajectory_time_1 * multiplicator * 0.5);
}
 
TEST_F(IntegrationTestCommandListManager, TestDifferentGroups)
{
  Sequence seq{ data_loader_->getSequence("ComplexSequenceWithGripper") };
  ASSERT_GE(seq.size(), 1u);
  // Count the number of group changes in the given sequence
  unsigned int num_groups{ 1 };
  std::string last_group_name{ seq.getCmd(0).getPlanningGroup() };
  for (size_t i = 1; i < seq.size(); ++i)
  {
    if (seq.getCmd(i).getPlanningGroup() != last_group_name)
    {
      ++num_groups;
      last_group_name = seq.getCmd(i).getPlanningGroup();
    }
  }
 
  RobotTrajCont res_single_vec{ manager_->solve(scene_, pipeline_, seq.toRequest()) };
  EXPECT_EQ(res_single_vec.size(), num_groups);
 
  for (const auto& res : res_single_vec)
  {
    EXPECT_GT(res->getWayPointCount(), 0u);
  }
}
 
TEST_F(IntegrationTestCommandListManager, TestGripperCmdBlending)
{
  Sequence seq{ data_loader_->getSequence("PureGripperSequence") };
  ASSERT_GE(seq.size(), 2u);
  ASSERT_TRUE(seq.cmdIsOfType<Gripper>(0));
  ASSERT_TRUE(seq.cmdIsOfType<Gripper>(1));
 
  // Ensure that blending is requested for gripper commands.
  seq.setBlendRadius(0, 1.0);
  RobotTrajCont res_vec{ manager_->solve(scene_, pipeline_, seq.toRequest()) };
  EXPECT_EQ(res_vec.size(), 1u);
}
 
TEST_F(IntegrationTestCommandListManager, TestGroupSpecificStartState)
{
  using std::placeholders::_1;
 
  Sequence seq{ data_loader_->getSequence("ComplexSequenceWithGripper") };
  ASSERT_GE(seq.size(), 4u);
  seq.erase(4, seq.size());
 
  Gripper& gripper{ seq.getCmd<Gripper>(0) };
  gripper.getStartConfiguration().setCreateJointNameFunc([](size_t n) { return createGripperJointName(n); });
  // By deleting the model we guarantee that the start state only consists
  // of joints of the gripper group without the manipulator
  gripper.getStartConfiguration().clearModel();
 
  PtpJointCart& ptp{ seq.getCmd<PtpJointCart>(1) };
  ptp.getStartConfiguration().setCreateJointNameFunc([](size_t n) { return createManipulatorJointName(n); });
  // By deleting the model we guarantee that the start state only consists
  // of joints of the manipulator group without the gripper
  ptp.getStartConfiguration().clearModel();
 
  RobotTrajCont res_vec{ manager_->solve(scene_, pipeline_, seq.toRequest()) };
  EXPECT_GE(res_vec.size(), 1u);
  EXPECT_GT(res_vec.front()->getWayPointCount(), 0u);
}
 
TEST_F(IntegrationTestCommandListManager, TestGetSolverTipFrameForSolverlessGroup)
{
  Gripper gripper_cmd{ data_loader_->getGripper("open_gripper") };
  EXPECT_THROW(getSolverTipFrame(robot_model_->getJointModelGroup(gripper_cmd.getPlanningGroup())), NoSolverException);
}
 
int main(int argc, char** argv)
{
  ros::init(argc, argv, "integrationtest_command_list_manager");
  testing::InitGoogleTest(&argc, argv);
 
  ros::NodeHandle nh;
 
  return RUN_ALL_TESTS();
}