unittest_trajectory_generator_common.cpp

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#include <boost/core/demangle.hpp>
#include <gtest/gtest.h>
 
#include <moveit/planning_interface/planning_interface.h>
#include <moveit/planning_scene/planning_scene.h>
#include <moveit/robot_model/robot_model.h>
#include <moveit/robot_model_loader/robot_model_loader.h>
#include <moveit/robot_state/conversions.h>
#include <moveit/robot_state/robot_state.h>
 
#include <pilz_industrial_motion_planner/joint_limits_aggregator.h>
#include <pilz_industrial_motion_planner/joint_limits_container.h>
#include <pilz_industrial_motion_planner/trajectory_generator_circ.h>
#include <pilz_industrial_motion_planner/trajectory_generator_lin.h>
#include <pilz_industrial_motion_planner/trajectory_generator_ptp.h>
#include <pilz_industrial_motion_planner/trajectory_blender_transition_window.h>
 
#include "test_utils.h"
 
#include <rclcpp/rclcpp.hpp>
 
const std::string PARAM_MODEL_NO_GRIPPER_NAME{ "robot_description" };
const std::string PARAM_MODEL_WITH_GRIPPER_NAME{ "robot_description_pg70" };
const std::string PARAM_NAMESPACE_LIMITS{ "robot_description_planning" };
 
template <typename T, int N>
class ValueTypeContainer
{
public:
  typedef T Type_;
  static const int VALUE = N;
};
template <typename T, int N>
const int ValueTypeContainer<T, N>::VALUE;
 
typedef ValueTypeContainer<pilz_industrial_motion_planner::TrajectoryGeneratorPTP, 0> PTP_NO_GRIPPER;
typedef ValueTypeContainer<pilz_industrial_motion_planner::TrajectoryGeneratorPTP, 1> PTP_WITH_GRIPPER;
typedef ValueTypeContainer<pilz_industrial_motion_planner::TrajectoryGeneratorLIN, 0> LIN_NO_GRIPPER;
typedef ValueTypeContainer<pilz_industrial_motion_planner::TrajectoryGeneratorLIN, 1> LIN_WITH_GRIPPER;
typedef ValueTypeContainer<pilz_industrial_motion_planner::TrajectoryGeneratorCIRC, 0> CIRC_NO_GRIPPER;
typedef ValueTypeContainer<pilz_industrial_motion_planner::TrajectoryGeneratorCIRC, 1> CIRC_WITH_GRIPPER;
 
typedef ::testing::Types<PTP_NO_GRIPPER, PTP_WITH_GRIPPER, LIN_NO_GRIPPER, LIN_WITH_GRIPPER, CIRC_NO_GRIPPER,
                         CIRC_WITH_GRIPPER>
    TrajectoryGeneratorCommonTestTypes;
 
typedef ::testing::Types<PTP_NO_GRIPPER, LIN_NO_GRIPPER, CIRC_NO_GRIPPER> TrajectoryGeneratorCommonTestTypesNoGripper;
 
typedef ::testing::Types<PTP_WITH_GRIPPER, LIN_WITH_GRIPPER, CIRC_WITH_GRIPPER>
    TrajectoryGeneratorCommonTestTypesWithGripper;
 
template <typename T>
class TrajectoryGeneratorCommonTest : public ::testing::Test
{
protected:
  void SetUp() override
  {
    rclcpp::NodeOptions node_options;
    node_options.automatically_declare_parameters_from_overrides(true);
    node_ = rclcpp::Node::make_shared("unittest_trajectory_generator_common", node_options);
 
    // load robot model
    // const std::string robot_description_param = (!T::VALUE ? PARAM_MODEL_NO_GRIPPER_NAME : PARAM_MODEL_WITH_GRIPPER_NAME);
    robot_model_loader::RobotModelLoader rm_loader(node_, PARAM_MODEL_NO_GRIPPER_NAME);
    robot_model_ = rm_loader.getModel();
    ASSERT_TRUE(bool(robot_model_)) << "Failed to load robot model";
    planning_scene_ = std::make_shared<planning_scene::PlanningScene>(robot_model_);
 
    // get parameters
    ASSERT_TRUE(node_->has_parameter("planning_group"));
    node_->get_parameter<std::string>("planning_group", planning_group_);
    ASSERT_TRUE(node_->has_parameter("target_link"));
    node_->get_parameter<std::string>("target_link", target_link_);
 
    testutils::checkRobotModel(robot_model_, planning_group_, target_link_);
 
    // create the limits container
    pilz_industrial_motion_planner::JointLimitsContainer joint_limits =
        pilz_industrial_motion_planner::JointLimitsAggregator::getAggregatedLimits(
            node_, PARAM_NAMESPACE_LIMITS, robot_model_->getActiveJointModels());
    pilz_industrial_motion_planner::CartesianLimit cart_limits;
    cart_limits.setMaxRotationalVelocity(0.5 * M_PI);
    cart_limits.setMaxTranslationalAcceleration(2);
    cart_limits.setMaxTranslationalDeceleration(2);
    cart_limits.setMaxTranslationalVelocity(1);
    pilz_industrial_motion_planner::LimitsContainer planner_limits;
    planner_limits.setJointLimits(joint_limits);
    planner_limits.setCartesianLimits(cart_limits);
 
    // create planner instance
    trajectory_generator_ = std::make_unique<typename T::Type_>(robot_model_, planner_limits, planning_group_);
    ASSERT_NE(nullptr, trajectory_generator_) << "failed to create trajectory generator";
 
    // create a valid motion plan request with goal in joint space as basis for
    // tests
    req_.group_name = planning_group_;
    req_.max_velocity_scaling_factor = 1.0;
    req_.max_acceleration_scaling_factor = 1.0;
    moveit::core::RobotState rstate(robot_model_);
    rstate.setToDefaultValues();
    rstate.setJointGroupPositions(planning_group_, std::vector<double>{ 0, M_PI / 2, 0, M_PI / 2, 0, 0 });
    rstate.setVariableVelocities(std::vector<double>(rstate.getVariableCount(), 0.0));
    moveit::core::robotStateToRobotStateMsg(rstate, req_.start_state, false);
    moveit_msgs::msg::Constraints goal_constraint;
    moveit_msgs::msg::JointConstraint joint_constraint;
    joint_constraint.joint_name = this->robot_model_->getActiveJointModels().front()->getName();
    joint_constraint.position = 0.5;
    goal_constraint.joint_constraints.push_back(joint_constraint);
    req_.goal_constraints.push_back(goal_constraint);
  }
 
protected:
  // ros stuff
  rclcpp::Node::SharedPtr node_;
  moveit::core::RobotModelConstPtr robot_model_;
  planning_scene::PlanningSceneConstPtr planning_scene_;
 
  // trajectory generator
  std::unique_ptr<pilz_industrial_motion_planner::TrajectoryGenerator> trajectory_generator_;
  planning_interface::MotionPlanResponse res_;
  planning_interface::MotionPlanRequest req_;
  // test parameters from parameter server
  std::string planning_group_, target_link_;
};
// Define the types we need to test
TYPED_TEST_SUITE(TrajectoryGeneratorCommonTest, TrajectoryGeneratorCommonTestTypes, /* ... */);
 
template <typename T>
class TrajectoryGeneratorCommonTestNoGripper : public TrajectoryGeneratorCommonTest<T>
{
};
TYPED_TEST_SUITE(TrajectoryGeneratorCommonTestNoGripper, TrajectoryGeneratorCommonTestTypesNoGripper, /* ... */);
 
// TODO(henningkayser):Enable tests with gripper support
// template <typename T>
// class TrajectoryGeneratorCommonTestWithGripper : public TrajectoryGeneratorCommonTest<T>
// {
// };
// TYPED_TEST_SUITE(TrajectoryGeneratorCommonTestWithGripper, TrajectoryGeneratorCommonTestTypesWithGripper, /* ... */);
 
TYPED_TEST(TrajectoryGeneratorCommonTest, InvalideScalingFactor)
{
  this->req_.max_velocity_scaling_factor = 2.0;
  EXPECT_FALSE(this->trajectory_generator_->generate(this->planning_scene_, this->req_, this->res_));
  EXPECT_EQ(this->res_.error_code_.val, moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN);
 
  this->req_.max_velocity_scaling_factor = 1.0;
  this->req_.max_acceleration_scaling_factor = 0;
  EXPECT_FALSE(this->trajectory_generator_->generate(this->planning_scene_, this->req_, this->res_));
  EXPECT_EQ(this->res_.error_code_.val, moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN);
 
  this->req_.max_velocity_scaling_factor = 0.00001;
  this->req_.max_acceleration_scaling_factor = 1;
  EXPECT_FALSE(this->trajectory_generator_->generate(this->planning_scene_, this->req_, this->res_));
  EXPECT_EQ(this->res_.error_code_.val, moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN);
 
  this->req_.max_velocity_scaling_factor = 1;
  this->req_.max_acceleration_scaling_factor = -1;
  EXPECT_FALSE(this->trajectory_generator_->generate(this->planning_scene_, this->req_, this->res_));
  EXPECT_EQ(this->res_.error_code_.val, moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN);
}
 
TYPED_TEST(TrajectoryGeneratorCommonTest, InvalidGroupName)
{
  this->req_.group_name = "foot";
  EXPECT_FALSE(this->trajectory_generator_->generate(this->planning_scene_, this->req_, this->res_));
  EXPECT_EQ(moveit_msgs::msg::MoveItErrorCodes::INVALID_GROUP_NAME, this->res_.error_code_.val);
}
 
TYPED_TEST(TrajectoryGeneratorCommonTestNoGripper, GripperGroup)
{
  this->req_.group_name = "gripper";
  EXPECT_FALSE(this->trajectory_generator_->generate(this->planning_scene_, this->req_, this->res_));
  EXPECT_EQ(moveit_msgs::msg::MoveItErrorCodes::INVALID_GROUP_NAME, this->res_.error_code_.val);
}
 
// TYPED_TEST(TrajectoryGeneratorCommonTestWithGripper, GripperGroup)
// {
//   this->req_.group_name = "gripper";
//   EXPECT_FALSE(this->trajectory_generator_->generate(this->planning_scene_, this->req_, this->res_));
//   EXPECT_EQ(moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS, this->res_.error_code_.val);
// }
 
// TYPED_TEST(TrajectoryGeneratorCommonTest, NoIKSolver)
//{
//  EXPECT_FALSE(this->trajectory_generator_->generate(this->req_, this->res_));
//  EXPECT_EQ(this->res_.error_code_.val,
//  moveit_msgs::msg::MoveItErrorCodes::INVALID_GROUP_NAME);
//}
 
TYPED_TEST(TrajectoryGeneratorCommonTest, EmptyJointNamesInStartState)
{
  this->req_.start_state.joint_state.name.clear();
  EXPECT_FALSE(this->trajectory_generator_->generate(this->planning_scene_, this->req_, this->res_));
  EXPECT_EQ(this->res_.error_code_.val, moveit_msgs::msg::MoveItErrorCodes::INVALID_ROBOT_STATE);
}
 
TYPED_TEST(TrajectoryGeneratorCommonTest, InconsistentStartState)
{
  this->req_.start_state.joint_state.name.push_back("joint_7");
  EXPECT_FALSE(this->trajectory_generator_->generate(this->planning_scene_, this->req_, this->res_));
  EXPECT_EQ(this->res_.error_code_.val, moveit_msgs::msg::MoveItErrorCodes::INVALID_ROBOT_STATE);
}
 
TYPED_TEST(TrajectoryGeneratorCommonTest, StartPostionOutOfLimit)
{
  this->req_.start_state.joint_state.position[0] = 100;
  EXPECT_FALSE(this->trajectory_generator_->generate(this->planning_scene_, this->req_, this->res_));
  EXPECT_EQ(this->res_.error_code_.val, moveit_msgs::msg::MoveItErrorCodes::INVALID_ROBOT_STATE);
}
 
TYPED_TEST(TrajectoryGeneratorCommonTest, StartPositionVelocityNoneZero)
{
  this->req_.start_state.joint_state.velocity[0] = 100;
  EXPECT_FALSE(this->trajectory_generator_->generate(this->planning_scene_, this->req_, this->res_));
  EXPECT_EQ(this->res_.error_code_.val, moveit_msgs::msg::MoveItErrorCodes::INVALID_ROBOT_STATE);
}
 
TYPED_TEST(TrajectoryGeneratorCommonTest, EmptyGoalConstraints)
{
  this->req_.goal_constraints.clear();
  EXPECT_FALSE(this->trajectory_generator_->generate(this->planning_scene_, this->req_, this->res_));
  EXPECT_EQ(this->res_.error_code_.val, moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS);
}
 
TYPED_TEST(TrajectoryGeneratorCommonTest, MultipleGoals)
{
  moveit_msgs::msg::JointConstraint joint_constraint;
  moveit_msgs::msg::PositionConstraint position_constraint;
  moveit_msgs::msg::OrientationConstraint orientation_constraint;
  moveit_msgs::msg::Constraints goal_constraint;
 
  // two goal constraints
  this->req_.goal_constraints.push_back(goal_constraint);
  this->req_.goal_constraints.push_back(goal_constraint);
  EXPECT_FALSE(this->trajectory_generator_->generate(this->planning_scene_, this->req_, this->res_));
  EXPECT_EQ(this->res_.error_code_.val, moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS);
 
  // one joint constraint and one orientation constraint
  goal_constraint.joint_constraints.push_back(joint_constraint);
  goal_constraint.orientation_constraints.push_back(orientation_constraint);
  this->req_.goal_constraints.clear();
  this->req_.goal_constraints.push_back(goal_constraint);
  EXPECT_FALSE(this->trajectory_generator_->generate(this->planning_scene_, this->req_, this->res_));
  EXPECT_EQ(this->res_.error_code_.val, moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS);
 
  // one joint constraint and one Cartesian constraint
  goal_constraint.position_constraints.push_back(position_constraint);
  goal_constraint.orientation_constraints.push_back(orientation_constraint);
  this->req_.goal_constraints.clear();
  this->req_.goal_constraints.push_back(goal_constraint);
  EXPECT_FALSE(this->trajectory_generator_->generate(this->planning_scene_, this->req_, this->res_));
  EXPECT_EQ(this->res_.error_code_.val, moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS);
 
  // two Cartesian constraints
  goal_constraint.joint_constraints.clear();
  goal_constraint.position_constraints.push_back(position_constraint);
  goal_constraint.orientation_constraints.push_back(orientation_constraint);
  goal_constraint.position_constraints.push_back(position_constraint);
  goal_constraint.orientation_constraints.push_back(orientation_constraint);
  this->req_.goal_constraints.clear();
  this->req_.goal_constraints.push_back(goal_constraint);
  EXPECT_FALSE(this->trajectory_generator_->generate(this->planning_scene_, this->req_, this->res_));
  EXPECT_EQ(this->res_.error_code_.val, moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS);
}
 
TYPED_TEST(TrajectoryGeneratorCommonTest, InvalideJointNameInGoal)
{
  moveit_msgs::msg::JointConstraint joint_constraint;
  joint_constraint.joint_name = "test_joint_2";
  this->req_.goal_constraints.front().joint_constraints[0] = joint_constraint;
  EXPECT_FALSE(this->trajectory_generator_->generate(this->planning_scene_, this->req_, this->res_));
  EXPECT_EQ(this->res_.error_code_.val, moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS);
}
 
TYPED_TEST(TrajectoryGeneratorCommonTest, MissingJointConstraint)
{
  moveit_msgs::msg::JointConstraint joint_constraint;
  joint_constraint.joint_name = "test_joint_2";
  this->req_.goal_constraints.front().joint_constraints.pop_back();  //<-- Missing joint constraint
  EXPECT_FALSE(this->trajectory_generator_->generate(this->planning_scene_, this->req_, this->res_));
  EXPECT_EQ(this->res_.error_code_.val, moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS);
}
 
TYPED_TEST(TrajectoryGeneratorCommonTest, InvalideJointPositionInGoal)
{
  this->req_.goal_constraints.front().joint_constraints[0].position = 100;
  EXPECT_FALSE(this->trajectory_generator_->generate(this->planning_scene_, this->req_, this->res_));
  EXPECT_EQ(this->res_.error_code_.val, moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS);
}
 
TYPED_TEST(TrajectoryGeneratorCommonTest, InvalidLinkNameInCartesianGoal)
{
  moveit_msgs::msg::PositionConstraint position_constraint;
  moveit_msgs::msg::OrientationConstraint orientation_constraint;
  moveit_msgs::msg::Constraints goal_constraint;
  // link name not set
  goal_constraint.position_constraints.push_back(position_constraint);
  goal_constraint.orientation_constraints.push_back(orientation_constraint);
  this->req_.goal_constraints.clear();
  this->req_.goal_constraints.push_back(goal_constraint);
  EXPECT_FALSE(this->trajectory_generator_->generate(this->planning_scene_, this->req_, this->res_));
  EXPECT_EQ(this->res_.error_code_.val, moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS);
 
  // different link names in position and orientation goals
  goal_constraint.position_constraints.front().link_name = "test_link_1";
  goal_constraint.orientation_constraints.front().link_name = "test_link_2";
  this->req_.goal_constraints.clear();
  this->req_.goal_constraints.push_back(goal_constraint);
  EXPECT_FALSE(this->trajectory_generator_->generate(this->planning_scene_, this->req_, this->res_));
  EXPECT_EQ(this->res_.error_code_.val, moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS);
 
  // no solver for the link
  goal_constraint.orientation_constraints.front().link_name = "test_link_1";
  this->req_.goal_constraints.clear();
  this->req_.goal_constraints.push_back(goal_constraint);
  EXPECT_FALSE(this->trajectory_generator_->generate(this->planning_scene_, this->req_, this->res_));
  EXPECT_EQ(this->res_.error_code_.val, moveit_msgs::msg::MoveItErrorCodes::NO_IK_SOLUTION);
}
 
TYPED_TEST(TrajectoryGeneratorCommonTest, EmptyPrimitivePoses)
{
  moveit_msgs::msg::PositionConstraint position_constraint;
  moveit_msgs::msg::OrientationConstraint orientation_constraint;
  moveit_msgs::msg::Constraints goal_constraint;
  position_constraint.link_name =
      this->robot_model_->getJointModelGroup(this->planning_group_)->getLinkModelNames().back();
  orientation_constraint.link_name = position_constraint.link_name;
 
  goal_constraint.position_constraints.push_back(position_constraint);
  goal_constraint.orientation_constraints.push_back(orientation_constraint);
  this->req_.goal_constraints.clear();
  this->req_.goal_constraints.push_back(goal_constraint);
  EXPECT_FALSE(this->trajectory_generator_->generate(this->planning_scene_, this->req_, this->res_));
  EXPECT_EQ(this->res_.error_code_.val, moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS);
}
 
int main(int argc, char** argv)
{
  rclcpp::init(argc, argv);
  testing::InitGoogleTest(&argc, argv);
  return RUN_ALL_TESTS();
}