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python_moveit_commander_ns.py
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python_moveit_commander_ns.py
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#!/usr/bin/env python
# Software License Agreement (BSD License)
#
# Copyright (c) 2012, Willow Garage, Inc.
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# * Redistributions in binary form must reproduce the above
# copyright notice, this list of conditions and the following
# disclaimer in the documentation and/or other materials provided
# with the distribution.
# * Neither the name of Willow Garage, Inc. nor the names of its
# contributors may be used to endorse or promote products derived
# from this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
# Author: William Baker
#
# This test is used to ensure planning with a RobotCommander is
# possbile if the robot's move_group node is in a different namespace
import unittest
import numpy as np
import rospy
import rostest
import os
from moveit_commander import RobotCommander
class PythonMoveitCommanderNsTest(unittest.TestCase):
PLANNING_GROUP = "manipulator"
PLANNING_NS = "test_ns/"
@classmethod
def setUpClass(self):
self.commander = RobotCommander("%srobot_description"%self.PLANNING_NS, self.PLANNING_NS)
self.group = self.commander.get_group(self.PLANNING_GROUP)
@classmethod
def tearDown(self):
pass
def check_target_setting(self, expect, *args):
if len(args) == 0:
args = [expect]
self.group.set_joint_value_target(*args)
res = self.group.get_joint_value_target()
self.assertTrue(np.all(np.asarray(res) == np.asarray(expect)),
"Setting failed for %s, values: %s" % (type(args[0]), res))
def test_target_setting(self):
n = self.group.get_variable_count()
self.check_target_setting([0.1] * n)
self.check_target_setting((0.2,) * n)
self.check_target_setting(np.zeros(n))
self.check_target_setting([0.3] * n, {name: 0.3 for name in self.group.get_active_joints()})
self.check_target_setting([0.5] + [0.3]*(n-1), "joint_1", 0.5)
def plan(self, target):
self.group.set_joint_value_target(target)
return self.group.plan()
def test_validation(self):
current = np.asarray(self.group.get_current_joint_values())
plan1 = self.plan(current + 0.2)
plan2 = self.plan(current + 0.2)
# first plan should execute
self.assertTrue(self.group.execute(plan1))
# second plan should be invalid now (due to modified start point) and rejected
self.assertFalse(self.group.execute(plan2))
# newly planned trajectory should execute again
plan3 = self.plan(current)
self.assertTrue(self.group.execute(plan3))
if __name__ == '__main__':
PKGNAME = 'moveit_ros_planning_interface'
NODENAME = 'moveit_test_python_moveit_commander_ns'
rospy.init_node(NODENAME)
rostest.rosrun(PKGNAME, NODENAME, PythonMoveitCommanderNsTest)
# suppress cleanup segfault
os._exit(0)