moveit2
The MoveIt Motion Planning Framework for ROS 2.
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moveit_kinematics
test
launch
panda-kdl-singular.test.py
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1
import
launch_testing
2
import
pytest
3
import
unittest
4
from
launch
import
LaunchDescription
5
from
launch_ros.actions
import
Node
6
from
launch_testing.util
import
KeepAliveProc
7
from
moveit_configs_utils
import
MoveItConfigsBuilder
8
from
launch_param_builder
import
ParameterBuilder
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10
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@pytest.mark.rostest
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def
generate_test_description
():
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moveit_configs =
MoveItConfigsBuilder
(
"moveit_resources_panda"
).to_dict()
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test_param = (
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ParameterBuilder(
"moveit_kinematics"
)
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.yaml(
"config/panda-kdl-singular-test.yaml"
)
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.to_dict()
19
)
20
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panda_kdl_singular = Node(
22
package=
"moveit_kinematics"
,
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executable=
"test_kinematics_plugin"
,
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name=
"panda_kdl_singular"
,
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parameters=[
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moveit_configs,
27
test_param,
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],
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output=
"screen"
,
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)
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return
(
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LaunchDescription(
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[
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panda_kdl_singular,
36
KeepAliveProc(),
37
launch_testing.actions.ReadyToTest(),
38
]
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),
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{
"panda_kdl_singular"
: panda_kdl_singular},
41
)
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class
TestTerminatingProcessStops
(unittest.TestCase):
45
def
test_gtest_run_complete
(self, proc_info, panda_kdl_singular):
46
proc_info.assertWaitForShutdown(process=panda_kdl_singular, timeout=4000.0)
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48
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@launch_testing.post_shutdown_test()
50
class
TestOutcome
(unittest.TestCase):
51
def
test_exit_codes
(self, proc_info):
52
launch_testing.asserts.assertExitCodes(proc_info)
moveit_configs_utils.moveit_configs_builder.MoveItConfigsBuilder
Definition
moveit_configs_builder.py:138
panda-kdl-singular.TestOutcome
Definition
panda-kdl-singular.test.py:50
panda-kdl-singular.TestOutcome.test_exit_codes
test_exit_codes(self, proc_info)
Definition
panda-kdl-singular.test.py:51
panda-kdl-singular.TestTerminatingProcessStops
Definition
panda-kdl-singular.test.py:44
panda-kdl-singular.TestTerminatingProcessStops.test_gtest_run_complete
test_gtest_run_complete(self, proc_info, panda_kdl_singular)
Definition
panda-kdl-singular.test.py:45
panda-kdl-singular.generate_test_description
generate_test_description()
Definition
panda-kdl-singular.test.py:12
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