integrationtest_sequence_action_preemption.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 <sensor_msgs/JointState.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>

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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, TestCancellingOfGoal)
	Tests that goal can be cancelled.
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"

)

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JOINT_POSITION_TOLERANCE()

const std::string JOINT_POSITION_TOLERANCE

(

"joint_position_tolerance"

)

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main()

int main	(	int	argc,
		char **	argv
	)

Definition at line 170 of file integrationtest_sequence_action_preemption.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"

)

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TEST_F()

TEST_F	(	IntegrationTestSequenceAction	,
		TestCancellingOfGoal
	)

Tests that goal can be cancelled.

Test Sequence:

1. Send goal for planning and execution.
2. Cancel goal before it finishes.

Expected Results:

1. Goal is sent to the action server.
2. Goal is cancelled. Execution stops.

Definition at line 151 of file integrationtest_sequence_action_preemption.cpp.

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Variable Documentation

GOAL_SUCCEEDED_EVENT

const std::string GOAL_SUCCEEDED_EVENT = "GOAL_SUCCEEDED"

Definition at line 74 of file integrationtest_sequence_action_preemption.cpp.

SERVER_IDLE_EVENT

const std::string SERVER_IDLE_EVENT = "SERVER_IDLE"

Definition at line 75 of file integrationtest_sequence_action_preemption.cpp.