test_servo_collision.cpp

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/*      Title     : test_servo_collision.cpp
 *      Project   : moveit_servo
 *      Created   : 08/03/2020
 *      Author    : Adam Pettinger
 */
 
#include "servo_launch_test_common.hpp"
#include <moveit_msgs/msg/planning_scene.hpp>
 
namespace moveit_servo
{
TEST_F(ServoFixture, SelfCollision)
{
  auto log_time_start = node_->now();
  ASSERT_TRUE(setupStartClient());
  auto log_time_end = node_->now();
  RCLCPP_INFO_STREAM(LOGGER, "Setup time: " << (log_time_end - log_time_start).seconds());
 
  // Start Servo
  ASSERT_TRUE(start());
  EXPECT_EQ(latest_status_, moveit_servo::StatusCode::NO_WARNING);
 
  // Look for DECELERATE_FOR_COLLISION status
  watchForStatus(moveit_servo::StatusCode::DECELERATE_FOR_COLLISION);
 
  // Publish some joint jog commands that will bring us to collision
  rclcpp::WallRate publish_loop_rate(test_parameters_->publish_hz);
  log_time_start = node_->now();
  size_t iterations = 0;
  while (!sawTrackedStatus() && iterations++ < test_parameters_->timeout_iterations)
  {
    auto msg = std::make_unique<control_msgs::msg::JointJog>();
    msg->header.stamp = node_->now();
    msg->header.frame_id = "panda_link3";
    msg->joint_names.push_back("panda_joint4");
    msg->velocities.push_back(-1.0);
    pub_joint_cmd_->publish(std::move(msg));
    publish_loop_rate.sleep();
  }
 
  EXPECT_LT(iterations, test_parameters_->timeout_iterations);
  log_time_end = node_->now();
  RCLCPP_INFO_STREAM(LOGGER, "Wait for collision: " << (log_time_end - log_time_start).seconds());
}
 
TEST_F(ServoFixture, ExternalCollision)
{
  // NOTE: This test is meant to be run after the SelfCollision test
  // It assumes the position is where the robot ends in SelfCollision test
 
  auto log_time_start = node_->now();
  ASSERT_TRUE(setupStartClient());
  auto log_time_end = node_->now();
  RCLCPP_INFO_STREAM(LOGGER, "Setup time: " << (log_time_end - log_time_start).seconds());
 
  // Start Servo
  ASSERT_TRUE(start());
 
  // Create collision object, in the way of servoing
  moveit_msgs::msg::CollisionObject collision_object;
  collision_object.header.frame_id = "panda_link0";
  collision_object.id = "box";
 
  shape_msgs::msg::SolidPrimitive box;
  box.type = box.BOX;
  box.dimensions = { 0.1, 0.4, 0.1 };
 
  geometry_msgs::msg::Pose box_pose;
  box_pose.position.x = 0.4;
  box_pose.position.y = 0.0;
  box_pose.position.z = 0.4;
 
  collision_object.primitives.push_back(box);
  collision_object.primitive_poses.push_back(box_pose);
  collision_object.operation = collision_object.ADD;
 
  moveit_msgs::msg::PlanningSceneWorld psw;
  psw.collision_objects.push_back(collision_object);
 
  moveit_msgs::msg::PlanningScene ps;
  ps.is_diff = true;
  ps.world = psw;
 
  // Publish the collision object to the planning scene
  auto scene_pub = node_->create_publisher<moveit_msgs::msg::PlanningScene>("/planning_scene", 10);
  scene_pub->publish(ps);
 
  // Look for DECELERATE_FOR_COLLISION status
  watchForStatus(moveit_servo::StatusCode::DECELERATE_FOR_COLLISION);
 
  // Now publish twist commands that collide with the box
  rclcpp::WallRate publish_loop_rate(test_parameters_->publish_hz);
  log_time_start = node_->now();
  size_t iterations = 0;
  while (!sawTrackedStatus() && iterations++ < test_parameters_->timeout_iterations)
  {
    auto msg = std::make_unique<geometry_msgs::msg::TwistStamped>();
    msg->header.stamp = node_->now();
    msg->twist.linear.x = 0.2;
    pub_twist_cmd_->publish(std::move(msg));
    publish_loop_rate.sleep();
  }
 
  EXPECT_LT(iterations, test_parameters_->timeout_iterations);
  log_time_end = node_->now();
  RCLCPP_INFO_STREAM(LOGGER, "Wait for collision: " << (log_time_end - log_time_start).seconds());
}
 
}  // namespace moveit_servo
 
int main(int argc, char** argv)
{
  // It is important we init ros before google test because we are going to
  // create a node during the google test init.
  rclcpp::init(argc, argv);
  ::testing::InitGoogleTest(&argc, argv);
 
  int ret = RUN_ALL_TESTS();
  rclcpp::shutdown();
  return ret;
}