unittest_pilz_industrial_motion_planner.cpp

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#include <gtest/gtest.h>
 
#include <iostream>
 
#include <moveit/robot_model/robot_model.hpp>
#include <moveit/robot_model_loader/robot_model_loader.hpp>
 
#include <pilz_industrial_motion_planner/pilz_industrial_motion_planner.hpp>
#include "test_utils.hpp"
 
#include <rclcpp/rclcpp.hpp>
 
static const rclcpp::Logger LOGGER = rclcpp::get_logger("unittest_pilz_industrial_motion_planner");
 
class CommandPlannerTest : public testing::Test
{
protected:
  void SetUp() override
  {
    rclcpp::NodeOptions node_options;
    node_options.automatically_declare_parameters_from_overrides(true);
    node_ = rclcpp::Node::make_shared("unittest_pilz_industrial_motion_planner", node_options);
    createPlannerInstance();
  }

  void createPlannerInstance()
  {
    // load robot model
    rm_loader_ = std::make_unique<robot_model_loader::RobotModelLoader>(node_);
    robot_model_ = rm_loader_->getModel();
    ASSERT_TRUE(bool(robot_model_)) << "Failed to load robot model";
 
    // Load planner name from node parameters
    ASSERT_TRUE(node_->has_parameter("planning_plugins")) << "Could not find parameter 'planning_plugins'";
    node_->get_parameter<std::vector<std::string>>("planning_plugins", planner_plugin_names_);
 
    // Load the plugin
    try
    {
      planner_plugin_loader_ = std::make_unique<pluginlib::ClassLoader<planning_interface::PlannerManager>>(
          "moveit_core", "planning_interface::PlannerManager");
    }
    catch (pluginlib::PluginlibException& ex)
    {
      RCLCPP_FATAL_STREAM(LOGGER, "Exception while creating planning plugin loader " << ex.what());
      FAIL();
    }
 
    // Create planner
    try
    {
      planner_instance_.reset(planner_plugin_loader_->createUnmanagedInstance(planner_plugin_names_.at(0)));
      ASSERT_TRUE(planner_instance_->initialize(robot_model_, node_, ""))
          << "Initializing the planner instance failed.";
    }
    catch (pluginlib::PluginlibException& ex)
    {
      FAIL() << "Could not create planner " << ex.what() << '\n';
    }
  }
 
  void TearDown() override
  {
    planner_plugin_loader_->unloadLibraryForClass(planner_plugin_names_.at(0));
    robot_model_.reset();
  }
 
protected:
  // ros stuff
  rclcpp::Node::SharedPtr node_;
  moveit::core::RobotModelConstPtr robot_model_;
  std::unique_ptr<robot_model_loader::RobotModelLoader> rm_loader_;
 
  std::vector<std::string> planner_plugin_names_;
  std::unique_ptr<pluginlib::ClassLoader<planning_interface::PlannerManager>> planner_plugin_loader_;
  planning_interface::PlannerManagerPtr planner_instance_;
};

TEST_F(CommandPlannerTest, ObtainLoadedPlanningAlgorithms)
{
  // Check for the algorithms
  std::vector<std::string> algs;
  planner_instance_->getPlanningAlgorithms(algs);
  ASSERT_EQ(4u, algs.size()) << "Found more or less planning algorithms as expected! Found:"
                             << ::testing::PrintToString(algs);
 
  // Collect the algorithms, check for uniqueness
  std::set<std::string> algs_set;
  for (const auto& alg : algs)
  {
    algs_set.insert(alg);
  }
  ASSERT_EQ(algs.size(), algs_set.size()) << "There are two or more algorithms with the same name!";
  ASSERT_TRUE(algs_set.find("LIN") != algs_set.end());
  ASSERT_TRUE(algs_set.find("PTP") != algs_set.end());
  ASSERT_TRUE(algs_set.find("CIRC") != algs_set.end());
  ASSERT_TRUE(algs_set.find("POLYLINE") != algs_set.end());
}

TEST_F(CommandPlannerTest, CheckValidAlgorithmsForServiceRequest)
{
  // Check for the algorithms
  std::vector<std::string> algs;
  planner_instance_->getPlanningAlgorithms(algs);
 
  for (const auto& alg : algs)
  {
    planning_interface::MotionPlanRequest req;
    req.planner_id = alg;
    req.group_name = "manipulator";
 
    EXPECT_TRUE(planner_instance_->canServiceRequest(req));
  }
}
 
TEST_F(CommandPlannerTest, CheckEmptyGroupNameForServiceRequest)
{
  // Check for the algorithms
  std::vector<std::string> algs;
  planner_instance_->getPlanningAlgorithms(algs);
 
  for (const auto& alg : algs)
  {
    planning_interface::MotionPlanRequest req;
    req.planner_id = alg;
 
    EXPECT_FALSE(planner_instance_->canServiceRequest(req));
  }
}
 
TEST_F(CommandPlannerTest, CheckInvalidGroupNameForServiceRequest)
{
  // Check for the algorithms
  std::vector<std::string> algs;
  planner_instance_->getPlanningAlgorithms(algs);
 
  for (const auto& alg : algs)
  {
    planning_interface::MotionPlanRequest req;
    req.planner_id = alg;
    req.group_name = "1234manipulator";
 
    EXPECT_FALSE(planner_instance_->canServiceRequest(req));
  }
}

TEST_F(CommandPlannerTest, CheckInvalidAlgorithmsForServiceRequest)
{
  planning_interface::MotionPlanRequest req;
  req.planner_id = "NON_EXISTEND_ALGORITHM_HASH_da39a3ee5e6b4b0d3255bfef95601890afd80709";
  req.group_name = "manipulator";
 
  EXPECT_FALSE(planner_instance_->canServiceRequest(req));
}

TEST_F(CommandPlannerTest, CheckEmptyPlannerIdForServiceRequest)
{
  planning_interface::MotionPlanRequest req;
  req.planner_id = "";
  req.group_name = "manipulator";
 
  EXPECT_FALSE(planner_instance_->canServiceRequest(req));
}

TEST_F(CommandPlannerTest, CheckPlanningContextRequestNull)
{
  moveit_msgs::msg::MotionPlanRequest req;
  moveit_msgs::msg::MoveItErrorCodes error_code;
  EXPECT_EQ(nullptr, planner_instance_->getPlanningContext(nullptr, req, error_code));
}

TEST_F(CommandPlannerTest, CheckPlanningContextRequest)
{
  moveit_msgs::msg::MotionPlanRequest req;
  moveit_msgs::msg::MoveItErrorCodes error_code;
 
  req.group_name = "manipulator";
  // Check for the algorithms
  std::vector<std::string> algs;
  planner_instance_->getPlanningAlgorithms(algs);
 
  for (const auto& alg : algs)
  {
    req.planner_id = alg;
 
    EXPECT_NE(nullptr, planner_instance_->getPlanningContext(nullptr, req, error_code));
  }
}

TEST_F(CommandPlannerTest, CheckPlanningContextDescriptionNotEmptyAndStable)
{
  std::string desc = planner_instance_->getDescription();
  EXPECT_GT(desc.length(), 0u);
}

TEST_F(CommandPlannerTest, FailOnLoadContext)
{
  pilz_industrial_motion_planner::CommandPlanner planner;
  planner.initialize(robot_model_, node_, "");
 
  // Mock of failing PlanningContextLoader
  class TestPlanningContextLoader : public pilz_industrial_motion_planner::PlanningContextLoader
  {
  public:
    std::string getAlgorithm() const override
    {
      return "Test_Algorithm";
    }
 
    bool loadContext(planning_interface::PlanningContextPtr& /* planning_context */, const std::string& /* name */,
                     const std::string& /* group */) const override
    {
      // Mock behaviour: Cannot load planning context.
      return false;
    }
  };

  pilz_industrial_motion_planner::PlanningContextLoaderPtr planning_context_loader =
      std::make_shared<TestPlanningContextLoader>();
  planner.registerContextLoader(planning_context_loader);
 
  moveit_msgs::msg::MotionPlanRequest req;
  req.planner_id = "Test_Algorithm";
  req.group_name = "manipulator";
 
  moveit_msgs::msg::MoveItErrorCodes error_code;
  EXPECT_FALSE(planner.getPlanningContext(nullptr, req, error_code));
  EXPECT_EQ(moveit_msgs::msg::MoveItErrorCodes::PLANNING_FAILED, error_code.val);
}
 
int main(int argc, char** argv)
{
  rclcpp::init(argc, argv);
  testing::InitGoogleTest(&argc, argv);
  return RUN_ALL_TESTS();
}