test_execution_manager.cpp

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/* Author: Ioan Sucan */
 
#include <moveit/trajectory_execution_manager/trajectory_execution_manager.h>
#include <moveit/robot_model_loader/robot_model_loader.h>
#include <moveit/planning_scene_monitor/planning_scene_monitor.h>
 
static const rclcpp::Logger LOGGER = rclcpp::get_logger("moveit_ros.trajectory_execution_manager.test_app");
 
int main(int argc, char** argv)
{
  rclcpp::init(argc, argv);
  auto node = rclcpp::Node::make_shared("test_trajectory_execution_manager");
 
  auto rml = std::make_shared<robot_model_loader::RobotModelLoader>(node);
  planning_scene_monitor::PlanningSceneMonitor psm(node, rml);
  trajectory_execution_manager::TrajectoryExecutionManager tem(node, rml->getModel(), psm.getStateMonitor(), true);
 
  std::cout << "1:\n";
  if (!tem.ensureActiveControllersForJoints(std::vector<std::string>(1, "basej")))
    RCLCPP_ERROR(LOGGER, "Fail!");
 
  std::cout << "2:\n";
  if (!tem.ensureActiveController("arms"))
    RCLCPP_ERROR(LOGGER, "Fail!");
 
  std::cout << "3:\n";
  if (!tem.ensureActiveControllersForJoints(std::vector<std::string>(1, "rj2")))
    RCLCPP_ERROR(LOGGER, "Fail!");
 
  std::cout << "4:\n";
  if (!tem.ensureActiveControllersForJoints(std::vector<std::string>(1, "lj1")))
    RCLCPP_ERROR(LOGGER, "Fail!");
 
  std::cout << "5:\n";
  if (!tem.ensureActiveController("left_arm_head"))
    RCLCPP_ERROR(LOGGER, "Fail!");
  std::cout << "6:\n";
  if (!tem.ensureActiveController("arms"))
    RCLCPP_ERROR(LOGGER, "Fail!");
 
  // execute with empty set of trajectories
  tem.execute();
  if (!tem.waitForExecution())
    RCLCPP_ERROR(LOGGER, "Fail!");
 
  moveit_msgs::msg::RobotTrajectory traj1;
  traj1.joint_trajectory.joint_names.push_back("rj1");
  traj1.joint_trajectory.points.resize(1);
  traj1.joint_trajectory.points[0].positions.push_back(0.0);
  if (!tem.push(traj1))
    RCLCPP_ERROR(LOGGER, "Fail!");
 
  moveit_msgs::msg::RobotTrajectory traj2 = traj1;
  traj2.joint_trajectory.joint_names.push_back("lj2");
  traj2.joint_trajectory.points[0].positions.push_back(1.0);
  traj2.multi_dof_joint_trajectory.joint_names.push_back("basej");
  traj2.multi_dof_joint_trajectory.points.resize(1);
  traj2.multi_dof_joint_trajectory.points[0].transforms.resize(1);
 
  if (!tem.push(traj2))
    RCLCPP_ERROR(LOGGER, "Fail!");
 
  traj1.multi_dof_joint_trajectory = traj2.multi_dof_joint_trajectory;
  if (!tem.push(traj1))
    RCLCPP_ERROR(LOGGER, "Fail!");
 
  if (!tem.executeAndWait())
    RCLCPP_ERROR(LOGGER, "Fail!");
 
  rclcpp::spin(node);
  return 0;
}