moveit2
The MoveIt Motion Planning Framework for ROS 2.
Loading...
Searching...
No Matches
Classes | Functions | Variables
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>
Include dependency graph for integrationtest_sequence_action_preemption.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, 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"  )
Here is the caller graph for this function:

◆ JOINT_POSITION_TOLERANCE()

const std::string JOINT_POSITION_TOLERANCE ( "joint_position_tolerance"  )
Here is the caller graph for this function:

◆ main()

int main ( int  argc,
char **  argv 
)

◆ 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"  )
Here is the caller graph for this function:

◆ 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.

Here is the call graph for this function:

Variable Documentation

◆ GOAL_SUCCEEDED_EVENT

const std::string GOAL_SUCCEEDED_EVENT = "GOAL_SUCCEEDED"

◆ SERVER_IDLE_EVENT

const std::string SERVER_IDLE_EVENT = "SERVER_IDLE"