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test check apply_planning_scene before creating collision-object-publisher/*ci* without MoveIt #469

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merged 3 commits into from
Nov 22, 2021
Merged

test check apply_planning_scene before creating collision-object-publisher/*ci* without MoveIt #469

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37ace7a
add coment what test-pr2eus-moveit-sim is
k-okada Nov 19, 2021
11dcd69
add test to cehck https://github.com/jsk-ros-pkg/jsk_pr2eus/pull/446
k-okada Nov 19, 2021
718b585
set default service-wait-time to 10 [sec]
k-okada Nov 22, 2021
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2 changes: 1 addition & 1 deletion pr2eus_moveit/euslisp/collision-object-publisher.l
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Original file line number Diff line number Diff line change
Expand Up @@ -8,7 +8,7 @@
(defmethod collision-object-publisher
(:init (&key (service-name "apply_planning_scene")
(scene-service "get_planning_scene")
(service-wait-time -1))
(service-wait-time 30))
(unless (ros::ok) (ros::roseus "publish_collision_eusobj"))
(setq object-list (make-hash-table))
(setq attached-object-list (make-hash-table))
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8 changes: 8 additions & 0 deletions pr2eus_moveit/test/test-pr2eus-moveit-sim.l
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Original file line number Diff line number Diff line change
@@ -1,5 +1,7 @@
#!/usr/bin/env roseus

;; test code to check pr2eus_moveit without MoveIt instance

(require :unittest "lib/llib/unittest.l")
(init-unit-test)

Expand All @@ -14,5 +16,11 @@
(assert ret "angle-vector-motion-plan returns something")
))

;; check https://github.com/jsk-ros-pkg/jsk_pr2eus/pull/446 to avoid jsk-ros-pkg/jsk_robot#1264 problem
(deftest test-init-collision-object-publisher
(setq ret (instance collision-object-publisher :init))
(assert ret "(instance collision-object-publisher :init)"))


(run-all-tests)
(exit)
3 changes: 3 additions & 0 deletions pr2eus_moveit/test/test-pr2eus-moveit-sim.test
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@@ -1,4 +1,7 @@
<launch>

<!-- test code to check pr2eus_moveit without MoveIt instance -->

<arg name="DISPLAY" default="" />

<env name="DISPLAY" value="$(arg DISPLAY)" />
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