servo_cpp_fixture.hpp

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/*      Title       : servo_cpp_fixture.hpp
 *      Project     : moveit_servo
 *      Created     : 07/13/2020
 *      Author      : Adam Pettinger, V Mohammed Ibrahim
 *
 *      Description : Resources used by servo c++ integration tests
 */
 
#pragma once
 
#include <gtest/gtest.h>
#include <moveit_servo/servo.hpp>
#include <moveit_servo/utils/command.hpp>
#include <moveit_servo/utils/common.hpp>
#include <moveit_servo/utils/datatypes.hpp>
#include <tf2_eigen/tf2_eigen.hpp>
 
class ServoCppFixture : public testing::Test
{
protected:
  void SetUp() override
  {
    // Create a node to be given to Servo.
    servo_test_node_ = std::make_shared<rclcpp::Node>("moveit_servo_test");
 
    // Create a Servo object for testing.
    const std::string servo_param_namespace = "moveit_servo_test";
    servo_param_listener_ = std::make_shared<servo::ParamListener>(servo_test_node_, servo_param_namespace);
    servo_params_ = servo_param_listener_->get_params();
 
    planning_scene_monitor_ = moveit_servo::createPlanningSceneMonitor(servo_test_node_, servo_params_);
    // Wait for complete state update before starting MoveIt Servo.
    if (!planning_scene_monitor_->getStateMonitor()->waitForCompleteState("panda_arm", 1.0))
    {
      FAIL() << "Could not retrieve complete robot state";
    }
    // Forward state update to planning scene
    planning_scene_monitor_->updateSceneWithCurrentState();
 
    servo_test_instance_ =
        std::make_shared<moveit_servo::Servo>(servo_test_node_, servo_param_listener_, planning_scene_monitor_);
  }
 
  Eigen::Isometry3d getCurrentPose(const std::string& target_frame) const
  {
    planning_scene_monitor::LockedPlanningSceneRO locked_scene(planning_scene_monitor_);
    return locked_scene->getCurrentState().getGlobalLinkTransform(target_frame);
  }
 
  std::shared_ptr<rclcpp::Node> servo_test_node_;
  std::shared_ptr<const servo::ParamListener> servo_param_listener_;
  servo::Params servo_params_;
  std::shared_ptr<moveit_servo::Servo> servo_test_instance_;
  planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor_;
};