test_srdf.cpp

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/* Author: David V. Lu!! */
#include <moveit_setup_framework/testing_utils.hpp>
#include <moveit_setup_framework/data/srdf_config.hpp>
#include <moveit_setup_srdf_plugins/planning_groups.hpp>
#include <tinyxml2.h>
 
static const rclcpp::Logger LOGGER = rclcpp::get_logger("test_srdf");
 
using moveit_setup::getSharePath;
using moveit_setup::SRDFConfig;
using moveit_setup::srdf_setup::PlanningGroups;
 
class SRDFTest : public moveit_setup::MoveItSetupTest
{
protected:
  void SetUp() override
  {
    MoveItSetupTest::SetUp();
    srdf_config_ = config_data_->get<SRDFConfig>("srdf");
  }
 
  void initializeWithURDF(const std::filesystem::path& urdf)
  {
    config_data_->preloadWithURDFPath(urdf);
    srdf_config_->updateRobotModel();
  }
 
  void initializeWithFanuc()
  {
    initializeWithURDF(getSharePath("moveit_resources_fanuc_description") / "urdf" / "fanuc.urdf");
  }
 
  void generateXML(const std::string& robot_name = "fanuc")
  {
    generateFiles<SRDFConfig>("srdf");
    std::filesystem::path srdf_path = output_dir_ / "config" / (robot_name + ".srdf");
    ASSERT_TRUE(std::filesystem::is_regular_file(srdf_path));
 
    ASSERT_EQ(srdf_xml_.LoadFile(srdf_path.c_str()), tinyxml2::XML_SUCCESS);
  }
 
  std::shared_ptr<SRDFConfig> srdf_config_;
  tinyxml2::XMLDocument srdf_xml_;
};
 
unsigned int countElements(const tinyxml2::XMLNode& parent, const char* child_name)
{
  unsigned int count = 0;
  for (const tinyxml2::XMLElement* sub_el = parent.FirstChildElement(child_name); sub_el != nullptr;
       sub_el = sub_el->NextSiblingElement(child_name))
  {
    count++;
  }
  return count;
}
 
TEST_F(SRDFTest, Empty)
{
  initializeWithFanuc();
 
  // do nothing
 
  generateXML();
 
  auto root = srdf_xml_.FirstChildElement("robot");
  EXPECT_EQ(std::string(root->Attribute("name")), std::string("fanuc"));
  EXPECT_TRUE(root->NoChildren());
}
 
TEST_F(SRDFTest, SetJoints)
{
  initializeWithFanuc();
 
  PlanningGroups pg;
  initializeStep(pg);
  std::string group_name = "manipulator";
  pg.create(group_name);
 
  std::vector<std::string> joints = { "joint_1", "joint_2" };
  pg.setJoints(group_name, joints);
 
  generateXML();
 
  auto root = srdf_xml_.FirstChildElement("robot");
  auto group_el = root->FirstChildElement("group");
  ASSERT_NE(group_el, nullptr);
  EXPECT_EQ(std::string(group_el->Attribute("name")), group_name);
  EXPECT_EQ(countElements(*group_el, "joint"), 2u);
 
  joints.push_back("joint_3");
  joints.push_back("joint_4");
  pg.setJoints(group_name, joints);
 
  generateXML();
 
  root = srdf_xml_.FirstChildElement("robot");
  group_el = root->FirstChildElement("group");
  ASSERT_NE(group_el, nullptr);
  EXPECT_EQ(countElements(*group_el, "joint"), 4u);
}
 
TEST_F(SRDFTest, SetLinks)
{
  initializeWithFanuc();
 
  PlanningGroups pg;
  initializeStep(pg);
  std::string group_name = "manipulator";
  pg.create(group_name);
 
  std::vector<std::string> links = { "base_link", "link_1" };
  pg.setLinks(group_name, links);
 
  generateXML();
 
  auto root = srdf_xml_.FirstChildElement("robot");
  auto group_el = root->FirstChildElement("group");
  ASSERT_NE(group_el, nullptr);
  EXPECT_EQ(std::string(group_el->Attribute("name")), group_name);
  EXPECT_EQ(countElements(*group_el, "link"), 2u);
 
  links.push_back("link_2");
  links.push_back("link_3");
  pg.setLinks(group_name, links);
 
  generateXML();
 
  root = srdf_xml_.FirstChildElement("robot");
  group_el = root->FirstChildElement("group");
  ASSERT_NE(group_el, nullptr);
  EXPECT_EQ(countElements(*group_el, "link"), 4u);
}
 
TEST_F(SRDFTest, SetJointsThenLinks)
{
  initializeWithFanuc();
 
  PlanningGroups pg;
  initializeStep(pg);
  std::string group_name = "manipulator";
  pg.create(group_name);
 
  std::vector<std::string> joints = { "joint_1", "joint_2" };
  pg.setJoints(group_name, joints);
 
  generateXML();
 
  auto root = srdf_xml_.FirstChildElement("robot");
  auto group_el = root->FirstChildElement("group");
  ASSERT_NE(group_el, nullptr);
  EXPECT_EQ(std::string(group_el->Attribute("name")), group_name);
  EXPECT_EQ(countElements(*group_el, "joint"), 2u);
  EXPECT_EQ(countElements(*group_el, "link"), 0u);
 
  std::vector<std::string> links = { "base_link", "link_1" };
  pg.setLinks(group_name, links);
 
  generateXML();
 
  root = srdf_xml_.FirstChildElement("robot");
  group_el = root->FirstChildElement("group");
  ASSERT_NE(group_el, nullptr);
  EXPECT_EQ(std::string(group_el->Attribute("name")), group_name);
  EXPECT_EQ(countElements(*group_el, "joint"), 2u);
  EXPECT_EQ(countElements(*group_el, "link"), 2u);
}
 
int main(int argc, char** argv)
{
  testing::InitGoogleTest(&argc, argv);
  rclcpp::init(argc, argv);
  return RUN_ALL_TESTS();
}