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The MoveIt Motion Planning Framework for ROS 2.
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integrationtest_sequence_action.cpp File Reference
#include <chrono>
#include <condition_variable>
#include <gmock/gmock.h>
#include <gtest/gtest.h>
#include <iostream>
#include <memory>
#include <mutex>
#include <stdexcept>
#include <thread>
#include <actionlib/client/simple_action_client.h>
#include <moveit/move_group_interface/move_group_interface.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_msgs/Constraints.h>
#include <moveit_msgs/GetMotionPlan.h>
#include <moveit_msgs/JointConstraint.h>
#include <ros/ros.h>
#include <pilz_industrial_motion_planner_testutils/async_test.h>
#include <pilz_industrial_motion_planner_testutils/checks.h>
#include <pilz_industrial_motion_planner_testutils/sequence.h>
#include <pilz_industrial_motion_planner_testutils/xml_testdata_loader.h>
#include <moveit_msgs/MoveGroupSequenceAction.h>
Include dependency graph for integrationtest_sequence_action.cpp:

Go to the source code of this file.

Classes

class  IntegrationTestSequenceAction
 

Functions

const std::string SEQUENCE_ACTION_NAME ("/sequence_move_group")
 
const std::string JOINT_POSITION_TOLERANCE ("joint_position_tolerance")
 
const std::string TEST_DATA_FILE_NAME ("testdata_file_name")
 
const std::string GROUP_NAME ("group_name")
 
 TEST_F (IntegrationTestSequenceAction, TestSendingOfEmptySequence)
 Test behavior of sequence action server when empty sequence is sent.
 
 TEST_F (IntegrationTestSequenceAction, TestDifferingGroupNames)
 Tests that invalid (differing) group names are detected.
 
 TEST_F (IntegrationTestSequenceAction, TestNegativeBlendRadius)
 Tests that negative blend radii are detected.
 
 TEST_F (IntegrationTestSequenceAction, TestOverlappingBlendRadii)
 Tests that overlapping blend radii are detected.
 
 TEST_F (IntegrationTestSequenceAction, TestTooLargeBlendRadii)
 Tests that too large blend radii are detected.
 
 TEST_F (IntegrationTestSequenceAction, TestInvalidCmd)
 Tests what happens if sequence contains not executable (invalid) command.
 
 TEST_F (IntegrationTestSequenceAction, TestInvalidLinkName)
 Tests that incorrect link_names are detected.
 
 MATCHER_P (FeedbackStateEq, state, "")
 
 MATCHER (IsResultSuccess, "")
 
 MATCHER (IsResultNotEmpty, "")
 
 TEST_F (IntegrationTestSequenceAction, TestActionServerCallbacks)
 Tests that action server callbacks are called correctly.
 
 TEST_F (IntegrationTestSequenceAction, TestPlanOnlyFlag)
 Tests the "only planning" flag.
 
 TEST_F (IntegrationTestSequenceAction, TestIgnoreRobotStateForPlanOnly)
 Tests that robot state in planning_scene_diff is ignored (Mainly for full coverage) in case "plan only" flag is set.
 
 TEST_F (IntegrationTestSequenceAction, TestNegativeBlendRadiusForPlanOnly)
 Tests that negative blend radii are detected (Mainly for full coverage) in case "plan only" flag is set.
 
 TEST_F (IntegrationTestSequenceAction, TestIgnoreRobotState)
 Tests that robot state in planning_scene_diff is ignored (Mainly for full coverage).
 
 TEST_F (IntegrationTestSequenceAction, TestLargeRequest)
 Tests the execution of a sequence with more than two commands.
 
 TEST_F (IntegrationTestSequenceAction, TestComplexSequenceWithoutBlending)
 Tests the execution of a sequence command (without blending) consisting of most of the possible command type combination.
 
 TEST_F (IntegrationTestSequenceAction, TestComplexSequenceWithBlending)
 Tests the execution of a sequence command (with blending) consisting of most of the possible command type combination.
 
int main (int argc, char **argv)
 

Variables

const std::string GOAL_SUCCEEDED_EVENT = "GOAL_SUCCEEDED"
 
const std::string SERVER_IDLE_EVENT = "SERVER_IDLE"
 

Function Documentation

◆ GROUP_NAME()

const std::string GROUP_NAME ( "group_name"  )

◆ JOINT_POSITION_TOLERANCE()

const std::string JOINT_POSITION_TOLERANCE ( "joint_position_tolerance"  )

◆ main()

int main ( int  argc,
char **  argv 
)

Definition at line 623 of file integrationtest_sequence_action.cpp.

◆ MATCHER() [1/2]

MATCHER ( IsResultNotEmpty  ,
""   
)

Definition at line 341 of file integrationtest_sequence_action.cpp.

◆ MATCHER() [2/2]

MATCHER ( IsResultSuccess  ,
""   
)

Definition at line 337 of file integrationtest_sequence_action.cpp.

◆ MATCHER_P()

MATCHER_P ( FeedbackStateEq  ,
state  ,
""   
)

Definition at line 333 of file integrationtest_sequence_action.cpp.

◆ SEQUENCE_ACTION_NAME()

const std::string SEQUENCE_ACTION_NAME ( "/sequence_move_group"  )

◆ TEST_DATA_FILE_NAME()

const std::string TEST_DATA_FILE_NAME ( "testdata_file_name"  )

◆ TEST_F() [1/15]

TEST_F ( IntegrationTestSequenceAction  ,
TestActionServerCallbacks   
)

Tests that action server callbacks are called correctly.

Test Sequence:

  1. Send goal for planning and execution.
  2. Evaluate the result.

Expected Results:

  1. Goal is sent to the action server.
  2. Error code of the result is success. Active-, feedback- and done-callbacks are called.

Definition at line 358 of file integrationtest_sequence_action.cpp.

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TEST_F ( IntegrationTestSequenceAction  ,
TestComplexSequenceWithBlending   
)

Tests the execution of a sequence command (with blending) consisting of most of the possible command type combination.

Test Sequence:

  1. Create sequence goal and send it via ActionClient.
  2. Wait for successful completion of command.

Expected Results:

  1. -
  2. ActionClient reports successful completion of command.

Definition at line 610 of file integrationtest_sequence_action.cpp.

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◆ TEST_F() [3/15]

TEST_F ( IntegrationTestSequenceAction  ,
TestComplexSequenceWithoutBlending   
)

Tests the execution of a sequence command (without blending) consisting of most of the possible command type combination.

Test Sequence:

  1. Create sequence goal and send it via ActionClient.
  2. Wait for successful completion of command.

Expected Results:

  1. -
  2. ActionClient reports successful completion of command.

Definition at line 583 of file integrationtest_sequence_action.cpp.

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◆ TEST_F() [4/15]

TEST_F ( IntegrationTestSequenceAction  ,
TestDifferingGroupNames   
)

Tests that invalid (differing) group names are detected.

Test Sequence:

  1. Invalidate first request (change group_name) and send goal for planning and execution.
  2. Evaluate the result.

Expected Results:

  1. Goal is sent to the action server.
  2. Error code of the result is failure.

Definition at line 170 of file integrationtest_sequence_action.cpp.

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TEST_F ( IntegrationTestSequenceAction  ,
TestIgnoreRobotState   
)

Tests that robot state in planning_scene_diff is ignored (Mainly for full coverage).

Test Sequence:

  1. Send goal with "empty" planning scene for planning and execution.
  2. Evaluate the result.

Expected Results:

  1. Goal is sent to the action server.
  2. Error code of the result is success.

Definition at line 513 of file integrationtest_sequence_action.cpp.

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TEST_F ( IntegrationTestSequenceAction  ,
TestIgnoreRobotStateForPlanOnly   
)

Tests that robot state in planning_scene_diff is ignored (Mainly for full coverage) in case "plan only" flag is set.

Test Sequence:

  1. Send goal with "empty" planning scene for planning and execution.
  2. Evaluate the result.

Expected Results:

  1. Goal is sent to the action server.
  2. Error code of the result is success.

Definition at line 447 of file integrationtest_sequence_action.cpp.

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TEST_F ( IntegrationTestSequenceAction  ,
TestInvalidCmd   
)

Tests what happens if sequence contains not executable (invalid) command.

Test Sequence:

  1. Create sequence containing at least one invalid command.
  2. Send goal for planning and execution.
  3. Evaluate the result.

Expected Results:

  1. -
  2. Goal is sent to the action server.
  3. Error code indicates an error + planned trajectory is empty.

Definition at line 286 of file integrationtest_sequence_action.cpp.

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TEST_F ( IntegrationTestSequenceAction  ,
TestInvalidLinkName   
)

Tests that incorrect link_names are detected.

Test Sequence:

  1. Create sequence and send it via ActionClient.
  2. Wait for successful completion of command.

Expected Results:

  1. -
  2. ActionClient reports successful completion of command.

Definition at line 312 of file integrationtest_sequence_action.cpp.

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TEST_F ( IntegrationTestSequenceAction  ,
TestLargeRequest   
)

Tests the execution of a sequence with more than two commands.

Test Sequence:

  1. Create large sequence requests and sent it to action server.
  2. Evaluate the result.

Expected Results:

  1. Goal is sent to the action server.
  2. Command succeeds, result trajectory is not empty.

Definition at line 543 of file integrationtest_sequence_action.cpp.

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TEST_F ( IntegrationTestSequenceAction  ,
TestNegativeBlendRadius   
)

Tests that negative blend radii are detected.

Test Sequence:

  1. Send goal for planning and execution.
  2. Evaluate the result.

Expected Results:

  1. Goal is sent to the action server.
  2. Error code of the result is not success and the planned trajectory is empty.

Definition at line 198 of file integrationtest_sequence_action.cpp.

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◆ TEST_F() [11/15]

TEST_F ( IntegrationTestSequenceAction  ,
TestNegativeBlendRadiusForPlanOnly   
)

Tests that negative blend radii are detected (Mainly for full coverage) in case "plan only" flag is set.

Test Sequence:

  1. Send goal for planning and execution.
  2. Evaluate the result.

Expected Results:

  1. Goal is sent to the action server.
  2. Error code of the result is not success and the planned trajectory is empty.

Definition at line 484 of file integrationtest_sequence_action.cpp.

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TEST_F ( IntegrationTestSequenceAction  ,
TestOverlappingBlendRadii   
)

Tests that overlapping blend radii are detected.

Test Sequence:

  1. Generate request with overlapping blend radii.
  2. Send goal for planning and execution.
  3. Evaluate the result.

Expected Results:

  1. -
  2. Goal is sent to the action server.
  3. Command fails, result trajectory is empty.

Definition at line 227 of file integrationtest_sequence_action.cpp.

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TEST_F ( IntegrationTestSequenceAction  ,
TestPlanOnlyFlag   
)

Tests the "only planning" flag.

Test Sequence:

  1. Send goal for planning and execution.
  2. Evaluate the result.

Expected Results:

  1. Goal is sent to the action server.
  2. Error code of the result is success.

Definition at line 415 of file integrationtest_sequence_action.cpp.

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◆ TEST_F() [14/15]

TEST_F ( IntegrationTestSequenceAction  ,
TestSendingOfEmptySequence   
)

Test behavior of sequence action server when empty sequence is sent.

Test Sequence:

  1. Send empty sequence.
  2. Evaluate the result.

Expected Results:

  1. Empty sequence is sent to the action server.
  2. Error code of the blend result is SUCCESS.

Definition at line 147 of file integrationtest_sequence_action.cpp.

◆ TEST_F() [15/15]

TEST_F ( IntegrationTestSequenceAction  ,
TestTooLargeBlendRadii   
)

Tests that too large blend radii are detected.

Test Sequence:

  1. Generate request with too large blend radii.
  2. Send goal for planning and execution.
  1. Evaluate the result.

Expected Results:

  1. -
  2. Goal is sent to the action server.
  3. Command fails, result trajectory is empty.

Definition at line 256 of file integrationtest_sequence_action.cpp.

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Variable Documentation

◆ GOAL_SUCCEEDED_EVENT

const std::string GOAL_SUCCEEDED_EVENT = "GOAL_SUCCEEDED"

Definition at line 71 of file integrationtest_sequence_action.cpp.

◆ SERVER_IDLE_EVENT

const std::string SERVER_IDLE_EVENT = "SERVER_IDLE"

Definition at line 72 of file integrationtest_sequence_action.cpp.