unittest_planning_context_loaders.cpp

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#include <gtest/gtest.h>
 
#include <pluginlib/class_loader.hpp>
 
#include <moveit/robot_model/robot_model.h>
#include <moveit/robot_model_loader/robot_model_loader.h>
 
#include <pilz_industrial_motion_planner/planning_context_loader.h>
 
#include "test_utils.h"
 
#include <rclcpp/rclcpp.hpp>
 
static const rclcpp::Logger LOGGER = rclcpp::get_logger("unittest_planning_context_loader");
 
class PlanningContextLoadersTest : public ::testing::TestWithParam<std::vector<std::string>>
{
protected:
  void SetUp() override
  {
    rclcpp::NodeOptions node_options;
    node_options.automatically_declare_parameters_from_overrides(true);
    node_ = rclcpp::Node::make_shared("unittest_planning_context_loader", node_options);
 
    // load robot model
    rm_loader_ = std::make_unique<robot_model_loader::RobotModelLoader>(node_);
    robot_model_ = rm_loader_->getModel();
    ASSERT_FALSE(robot_model_ == nullptr) << "There is no robot model!";
 
    // Load the plugin
    try
    {
      planning_context_loader_class_loader_ =
          std::make_unique<pluginlib::ClassLoader<pilz_industrial_motion_planner::PlanningContextLoader>>(
              "pilz_industrial_motion_planner", "pilz_industrial_motion_planner::PlanningContextLoader");
    }
    catch (pluginlib::PluginlibException& ex)
    {
      RCLCPP_FATAL_STREAM(LOGGER, "Exception while creating planning context loader " << ex.what());
      FAIL();
    }
 
    // Create planning context loader ptp
    try
    {
      planning_context_loader_.reset(planning_context_loader_class_loader_->createUnmanagedInstance(GetParam().front()));
    }
    catch (pluginlib::PluginlibException& ex)
    {
      FAIL() << ex.what();
    }
    return;
  }
 
  void TearDown() override
  {
    if (planning_context_loader_class_loader_)
    {
      planning_context_loader_class_loader_->unloadLibraryForClass(GetParam().front());
    }
    robot_model_.reset();
  }
 
protected:
  rclcpp::Node::SharedPtr node_;
  moveit::core::RobotModelConstPtr robot_model_;
  std::unique_ptr<robot_model_loader::RobotModelLoader> rm_loader_;
 
  // Load the plugin
  std::unique_ptr<pluginlib::ClassLoader<pilz_industrial_motion_planner::PlanningContextLoader>>
      planning_context_loader_class_loader_;
 
  pilz_industrial_motion_planner::PlanningContextLoaderPtr planning_context_loader_;
};
 
// Instantiate the test cases for all loaders, extend here if you added a new
// ContextLoader you want to test
INSTANTIATE_TEST_SUITE_P(
    InstantiationName, PlanningContextLoadersTest,
    ::testing::Values(
        std::vector<std::string>{ "pilz_industrial_motion_planner/PlanningContextLoaderPTP", "PTP" },   // Test for PTP
        std::vector<std::string>{ "pilz_industrial_motion_planner/PlanningContextLoaderLIN", "LIN" },   // Test for LIN
        std::vector<std::string>{ "pilz_industrial_motion_planner/PlanningContextLoaderCIRC", "CIRC" }  // Test for CIRC
        ));
 
TEST_P(PlanningContextLoadersTest, GetAlgorithm)
{
  std::string alg = planning_context_loader_->getAlgorithm();
  EXPECT_EQ(alg, GetParam().back());
}
 
TEST_P(PlanningContextLoadersTest, LoadContext)
{
  planning_interface::PlanningContextPtr planning_context;
  const std::string& group_name = "manipulator";
 
  // Without limits should return false
  bool res = planning_context_loader_->loadContext(planning_context, "test", group_name);
  EXPECT_EQ(false, res) << "Context returned even when no limits where set";
 
  // After setting the limits this should work
  pilz_industrial_motion_planner::JointLimitsContainer joint_limits =
      testutils::createFakeLimits(robot_model_->getVariableNames());
  pilz_industrial_motion_planner::LimitsContainer limits;
  limits.setJointLimits(joint_limits);
 
  cartesian_limits::Params cart_limits;
  cart_limits.max_trans_vel = 1 * M_PI;
  cart_limits.max_trans_acc = 2;
  cart_limits.max_trans_dec = 2;
  cart_limits.max_rot_vel = 1;
 
  limits.setCartesianLimits(cart_limits);
 
  planning_context_loader_->setLimits(limits);
  planning_context_loader_->setModel(robot_model_);
 
  try
  {
    res = planning_context_loader_->loadContext(planning_context, "test", group_name);
  }
  catch (std::exception& ex)
  {
    FAIL() << "Exception!" << ex.what() << ' ' << typeid(ex).name();
  }
 
  EXPECT_EQ(true, res) << "Context could not be loaded!";
}
 
int main(int argc, char** argv)
{
  rclcpp::init(argc, argv);
  testing::InitGoogleTest(&argc, argv);
  return RUN_ALL_TESTS();
}