unittest_trajectory_generator_lin.cpp

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#include <memory>
 
#include <gtest/gtest.h>
 
#include <pilz_industrial_motion_planner/joint_limits_aggregator.h>
#include <pilz_industrial_motion_planner/trajectory_generator_lin.h>
#include <pilz_industrial_motion_planner_testutils/command_types_typedef.h>
#include <pilz_industrial_motion_planner_testutils/xml_testdata_loader.h>
#include "test_utils.h"
 
#include <moveit/kinematic_constraints/utils.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/robot_state/robot_state.h>
 
#include <rclcpp/rclcpp.hpp>
 
using namespace pilz_industrial_motion_planner;
using namespace pilz_industrial_motion_planner_testutils;
 
static const std::string PARAM_NAMESPACE_LIMITS = "robot_description_planning";
 
// Parameter names
const std::string TEST_DATA_FILE_NAME("testdata_file_name");
const std::string PARAM_PLANNING_GROUP_NAME("planning_group");
const std::string TARGET_LINK_HCD("target_link_hand_computed_data");
const std::string RANDOM_TEST_TRIAL_NUM("random_trial_number");
const std::string JOINT_POSITION_TOLERANCE("joint_position_tolerance");
const std::string JOINT_VELOCITY_TOLERANCE("joint_velocity_tolerance");
const std::string POSE_TRANSFORM_MATRIX_NORM_TOLERANCE("pose_norm_tolerance");
const std::string ROTATION_AXIS_NORM_TOLERANCE("rot_axis_norm_tolerance");
const std::string VELOCITY_SCALING_FACTOR("velocity_scaling_factor");
const std::string OTHER_TOLERANCE("other_tolerance");
 
class TrajectoryGeneratorLINTest : 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_trajectory_generator_lin", node_options);
 
    // 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";
    planning_scene_ = std::make_shared<planning_scene::PlanningScene>(robot_model_);
 
    // get parameters
    ASSERT_TRUE(node_->get_parameter(TEST_DATA_FILE_NAME, test_data_file_name_));
    ASSERT_TRUE(node_->get_parameter(PARAM_PLANNING_GROUP_NAME, planning_group_));
    ASSERT_TRUE(node_->get_parameter(TARGET_LINK_HCD, target_link_hcd_));
    ASSERT_TRUE(node_->get_parameter(RANDOM_TEST_TRIAL_NUM, random_trial_num_));
    ASSERT_TRUE(node_->get_parameter(JOINT_POSITION_TOLERANCE, joint_position_tolerance_));
    ASSERT_TRUE(node_->get_parameter(JOINT_VELOCITY_TOLERANCE, joint_velocity_tolerance_));
    ASSERT_TRUE(node_->get_parameter(POSE_TRANSFORM_MATRIX_NORM_TOLERANCE, pose_norm_tolerance_));
    ASSERT_TRUE(node_->get_parameter(ROTATION_AXIS_NORM_TOLERANCE, rot_axis_norm_tolerance_));
    ASSERT_TRUE(node_->get_parameter(VELOCITY_SCALING_FACTOR, velocity_scaling_factor_));
    ASSERT_TRUE(node_->get_parameter(OTHER_TOLERANCE, other_tolerance_));
 
    testutils::checkRobotModel(robot_model_, planning_group_, target_link_hcd_);
 
    // load the test data provider
    tdp_ = std::make_unique<pilz_industrial_motion_planner_testutils::XmlTestdataLoader>(test_data_file_name_);
    ASSERT_NE(nullptr, tdp_) << "Failed to load test data by provider.";
 
    tdp_->setRobotModel(robot_model_);
 
    // create the limits container
    // TODO, move this also into test data set
    pilz_industrial_motion_planner::JointLimitsContainer joint_limits =
        pilz_industrial_motion_planner::JointLimitsAggregator::getAggregatedLimits(
            node_, PARAM_NAMESPACE_LIMITS, robot_model_->getActiveJointModels());
 
    cartesian_limits::Params cart_limits;
    cart_limits.max_rot_vel = 0.5 * M_PI;
    cart_limits.max_trans_acc = 2;
    cart_limits.max_trans_dec = 2;
    cart_limits.max_trans_vel = 1;
 
    planner_limits_.setJointLimits(joint_limits);
    planner_limits_.setCartesianLimits(cart_limits);
 
    // initialize the LIN trajectory generator
    lin_ = std::make_unique<TrajectoryGeneratorLIN>(robot_model_, planner_limits_, planning_group_);
    ASSERT_NE(nullptr, lin_) << "Failed to create LIN trajectory generator.";
  }
 
  void TearDown() override
  {
    robot_model_.reset();
  }
 
  bool checkLinResponse(const planning_interface::MotionPlanRequest& req,
                        const planning_interface::MotionPlanResponse& res)
  {
    moveit_msgs::msg::MotionPlanResponse res_msg;
    res.getMessage(res_msg);
    if (!testutils::isGoalReached(robot_model_, res_msg.trajectory.joint_trajectory, req, pose_norm_tolerance_))
    {
      return false;
    }
 
    if (!testutils::checkCartesianLinearity(robot_model_, res_msg.trajectory.joint_trajectory, req,
                                            pose_norm_tolerance_, rot_axis_norm_tolerance_))
    {
      return false;
    }
 
    if (!testutils::checkJointTrajectory(res_msg.trajectory.joint_trajectory, planner_limits_.getJointLimitContainer()))
    {
      return false;
    }
 
    return true;
  }
 
protected:
  // ros stuff
  rclcpp::Node::SharedPtr node_;
  moveit::core::RobotModelConstPtr robot_model_;
  std::unique_ptr<robot_model_loader::RobotModelLoader> rm_loader_;
  planning_scene::PlanningSceneConstPtr planning_scene_;
 
  // lin trajectory generator using model without gripper
  std::unique_ptr<TrajectoryGenerator> lin_;
  // test data provider
  std::unique_ptr<pilz_industrial_motion_planner_testutils::TestdataLoader> tdp_;
 
  // test parameters from parameter server
  std::string planning_group_, target_link_hcd_, test_data_file_name_;
  int random_trial_num_;
  double joint_position_tolerance_, joint_velocity_tolerance_, pose_norm_tolerance_, rot_axis_norm_tolerance_,
      velocity_scaling_factor_, other_tolerance_;
  LimitsContainer planner_limits_;
};
 
TEST_F(TrajectoryGeneratorLINTest, TestExceptionErrorCodeMapping)
{
  {
    auto ltcf_ex = std::make_shared<LinTrajectoryConversionFailure>("");
    EXPECT_EQ(ltcf_ex->getErrorCode(), moveit_msgs::msg::MoveItErrorCodes::FAILURE);
  }
 
  {
    auto jnm_ex = std::make_shared<JointNumberMismatch>("");
    EXPECT_EQ(jnm_ex->getErrorCode(), moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS);
  }
 
  {
    auto ljmiss_ex = std::make_shared<LinJointMissingInStartState>("");
    EXPECT_EQ(ljmiss_ex->getErrorCode(), moveit_msgs::msg::MoveItErrorCodes::INVALID_ROBOT_STATE);
  }
 
  {
    auto lifgi_ex = std::make_shared<LinInverseForGoalIncalculable>("");
    EXPECT_EQ(lifgi_ex->getErrorCode(), moveit_msgs::msg::MoveItErrorCodes::NO_IK_SOLUTION);
  }
}
 
TEST_F(TrajectoryGeneratorLINTest, nonZeroStartVelocity)
{
  planning_interface::MotionPlanRequest req{ tdp_->getLinJoint("lin2").toRequest() };
 
  // add non-zero velocity in the start state
  req.start_state.joint_state.velocity.push_back(1.0);
 
  // try to generate the result
  planning_interface::MotionPlanResponse res;
  lin_->generate(planning_scene_, req, res);
  EXPECT_EQ(res.error_code.val, moveit_msgs::msg::MoveItErrorCodes::INVALID_ROBOT_STATE);
}
 
TEST_F(TrajectoryGeneratorLINTest, jointSpaceGoal)
{
  planning_interface::MotionPlanRequest lin_joint_req{ tdp_->getLinJoint("lin2").toRequest() };
 
  // generate the LIN trajectory
  planning_interface::MotionPlanResponse res;
  lin_->generate(planning_scene_, lin_joint_req, res);
  EXPECT_TRUE(res.error_code.val == moveit_msgs::msg::MoveItErrorCodes::SUCCESS);
 
  // check the resulted trajectory
  EXPECT_TRUE(checkLinResponse(lin_joint_req, res));
}
 
TEST_F(TrajectoryGeneratorLINTest, jointSpaceGoalNearZeroStartVelocity)
{
  planning_interface::MotionPlanRequest lin_joint_req{ tdp_->getLinJoint("lin2").toRequest() };
 
  // Set velocity near zero
  lin_joint_req.start_state.joint_state.velocity =
      std::vector<double>(lin_joint_req.start_state.joint_state.position.size(), 1e-16);
 
  // generate the LIN trajectory
  planning_interface::MotionPlanResponse res;
  lin_->generate(planning_scene_, lin_joint_req, res);
  EXPECT_TRUE(res.error_code.val == moveit_msgs::msg::MoveItErrorCodes::SUCCESS);
 
  // check the resulted trajectory
  EXPECT_TRUE(checkLinResponse(lin_joint_req, res));
}
 
TEST_F(TrajectoryGeneratorLINTest, cartesianSpaceGoal)
{
  // construct motion plan request
  moveit_msgs::msg::MotionPlanRequest lin_cart_req{ tdp_->getLinCart("lin2").toRequest() };
 
  // generate lin trajectory
  planning_interface::MotionPlanResponse res;
  lin_->generate(planning_scene_, lin_cart_req, res);
  EXPECT_TRUE(res.error_code.val == moveit_msgs::msg::MoveItErrorCodes::SUCCESS);
 
  // check the resulted trajectory
  EXPECT_TRUE(checkLinResponse(lin_cart_req, res));
}
 
TEST_F(TrajectoryGeneratorLINTest, cartesianTrapezoidProfile)
{
  // construct motion plan request
  moveit_msgs::msg::MotionPlanRequest lin_joint_req{ tdp_->getLinJoint("lin2").toRequest() };
 
  planning_interface::MotionPlanResponse res;
  lin_->generate(planning_scene_, lin_joint_req, res, 0.01);
  EXPECT_EQ(res.error_code.val, moveit_msgs::msg::MoveItErrorCodes::SUCCESS);
 
  ASSERT_TRUE(testutils::checkCartesianTranslationalPath(res.trajectory, target_link_hcd_));
 
  // check last point for vel=acc=0
  for (size_t idx = 0; idx < res.trajectory->getLastWayPointPtr()->getVariableCount(); ++idx)
  {
    EXPECT_NEAR(0.0, res.trajectory->getLastWayPointPtr()->getVariableVelocity(idx), other_tolerance_);
    EXPECT_NEAR(0.0, res.trajectory->getLastWayPointPtr()->getVariableAcceleration(idx), other_tolerance_);
  }
}
 
TEST_F(TrajectoryGeneratorLINTest, LinPlannerLimitViolation)
{
  LinJoint lin{ tdp_->getLinJoint("lin2") };
  lin.setAccelerationScale(1.01);
 
  planning_interface::MotionPlanResponse res;
  lin_->generate(planning_scene_, lin.toRequest(), res);
  ASSERT_FALSE(res.error_code.val == moveit_msgs::msg::MoveItErrorCodes::SUCCESS);
}
 
TEST_F(TrajectoryGeneratorLINTest, LinPlannerDiscontinuousJointTraj)
{
  LinJoint lin{ tdp_->getLinJoint("lin2") };
  // Alter goal joint configuration (represents the same cartesian pose, but
  // does not fit together with start config)
  lin.getGoalConfiguration().setJoint(1, 1.63);
  lin.getGoalConfiguration().setJoint(2, 0.96);
  lin.getGoalConfiguration().setJoint(4, -2.48);
  lin.setVelocityScale(1.0);
  lin.setAccelerationScale(1.0);
 
  planning_interface::MotionPlanResponse res;
  lin_->generate(planning_scene_, lin.toRequest(), res);
  ASSERT_FALSE(res.error_code.val == moveit_msgs::msg::MoveItErrorCodes::SUCCESS);
}
 
TEST_F(TrajectoryGeneratorLINTest, LinStartEqualsGoal)
{
  // construct motion plan request
  moveit_msgs::msg::MotionPlanRequest lin_joint_req{ tdp_->getLinJoint("lin2").toRequest() };
 
  moveit::core::RobotState start_state(robot_model_);
  jointStateToRobotState(lin_joint_req.start_state.joint_state, start_state);
 
  for (auto& joint_constraint : lin_joint_req.goal_constraints.at(0).joint_constraints)
  {
    joint_constraint.position = start_state.getVariablePosition(joint_constraint.joint_name);
  }
 
  // generate the LIN trajectory
  planning_interface::MotionPlanResponse res;
  lin_->generate(planning_scene_, lin_joint_req, res);
  EXPECT_TRUE(res.error_code.val == moveit_msgs::msg::MoveItErrorCodes::SUCCESS);
 
  // check the resulted trajectory
  EXPECT_TRUE(checkLinResponse(lin_joint_req, res));
}
 
TEST_F(TrajectoryGeneratorLINTest, IncorrectJointNumber)
{
  // construct motion plan request
  moveit_msgs::msg::MotionPlanRequest lin_joint_req{ tdp_->getLinJoint("lin2").toRequest() };
 
  // Ensure that request consists of an incorrect number of joints.
  lin_joint_req.goal_constraints.front().joint_constraints.pop_back();
 
  // generate the LIN trajectory
  planning_interface::MotionPlanResponse res;
  lin_->generate(planning_scene_, lin_joint_req, res);
  EXPECT_TRUE(res.error_code.val == moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS);
}
 
TEST_F(TrajectoryGeneratorLINTest, cartGoalIncompleteStartState)
{
  // construct motion plan request
  moveit_msgs::msg::MotionPlanRequest lin_cart_req{ tdp_->getLinCart("lin2").toRequest() };
  EXPECT_GT(lin_cart_req.start_state.joint_state.name.size(), 1u);
  lin_cart_req.start_state.joint_state.name.resize(1);
  lin_cart_req.start_state.joint_state.position.resize(1);  // prevent failing check for equal sizes
 
  // generate lin trajectory
  planning_interface::MotionPlanResponse res;
  lin_->generate(planning_scene_, lin_cart_req, res);
  EXPECT_EQ(res.error_code.val, moveit_msgs::msg::MoveItErrorCodes::INVALID_ROBOT_STATE);
}
 
TEST_F(TrajectoryGeneratorLINTest, cartGoalFrameIdBothConstraints)
{
  // construct motion plan request
  moveit_msgs::msg::MotionPlanRequest lin_cart_req{ tdp_->getLinCart("lin2").toRequest() };
 
  lin_cart_req.goal_constraints.front().position_constraints.front().header.frame_id = robot_model_->getModelFrame();
  lin_cart_req.goal_constraints.front().orientation_constraints.front().header.frame_id = robot_model_->getModelFrame();
 
  // generate lin trajectory
  planning_interface::MotionPlanResponse res;
  lin_->generate(planning_scene_, lin_cart_req, res);
  EXPECT_TRUE(res.error_code.val == moveit_msgs::msg::MoveItErrorCodes::SUCCESS);
 
  // check the resulted trajectory
  EXPECT_TRUE(checkLinResponse(lin_cart_req, res));
}
 
int main(int argc, char** argv)
{
  rclcpp::init(argc, argv);
  testing::InitGoogleTest(&argc, argv);
  return RUN_ALL_TESTS();
}