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Re-re-enable servo tests. #423

Merged
merged 7 commits into from
Apr 19, 2021
Merged

Re-re-enable servo tests. #423

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3021971
Enable pose tracking test
Apr 15, 2021
b3487ec
Enable servo calcs test
Apr 15, 2021
ee86e44
Merge branch 'main' into fix/servo_tests
Apr 15, 2021
97ae05b
Cleanup comments
Apr 15, 2021
a1e24cc
Revert changes to Servo limits test
Apr 19, 2021
ad5080c
Fix flakiness due to nodes starting after tests
Apr 19, 2021
549c732
Merge branch 'main' into fix/servo_tests
Apr 19, 2021
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26 changes: 13 additions & 13 deletions moveit_ros/moveit_servo/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -191,13 +191,13 @@ if(BUILD_TESTING)

# This test is flaky, disabling until it is fixed
# Unit test for ServoCalcs
# ament_add_gtest_executable(
# unit_test_servo_calcs
# test/unit_test_servo_calcs.cpp
# )
# target_link_libraries(unit_test_servo_calcs ${SERVO_LIB_NAME})
# ament_target_dependencies(unit_test_servo_calcs ${THIS_PACKAGE_INCLUDE_DEPENDS} Boost)
# add_ros_test(test/launch/unit_test_servo_calcs.test.py ARGS "test_binary_dir:=${CMAKE_CURRENT_BINARY_DIR}")
ament_add_gtest_executable(
unit_test_servo_calcs
test/unit_test_servo_calcs.cpp
)
target_link_libraries(unit_test_servo_calcs ${SERVO_LIB_NAME})
ament_target_dependencies(unit_test_servo_calcs ${THIS_PACKAGE_INCLUDE_DEPENDS} Boost)
add_ros_test(test/launch/unit_test_servo_calcs.test.py ARGS "test_binary_dir:=${CMAKE_CURRENT_BINARY_DIR}")
# end Unit test for ServoCalcs

# Servo integration launch test
Expand Down Expand Up @@ -243,12 +243,12 @@ if(BUILD_TESTING)

# Flaky, disabling until it is fixed
# pose_tracking
# ament_add_gtest_executable(test_servo_pose_tracking
# test/pose_tracking_test.cpp
# )
# ament_target_dependencies(test_servo_pose_tracking ${THIS_PACKAGE_INCLUDE_DEPENDS})
# target_link_libraries(test_servo_pose_tracking ${POSE_TRACKING})
# add_ros_test(test/launch/test_servo_pose_tracking.test.py ARGS "test_binary_dir:=${CMAKE_CURRENT_BINARY_DIR}")
ament_add_gtest_executable(test_servo_pose_tracking
test/pose_tracking_test.cpp
)
ament_target_dependencies(test_servo_pose_tracking ${THIS_PACKAGE_INCLUDE_DEPENDS})
target_link_libraries(test_servo_pose_tracking ${POSE_TRACKING})
add_ros_test(test/launch/test_servo_pose_tracking.test.py ARGS "test_binary_dir:=${CMAKE_CURRENT_BINARY_DIR}")

# # low_latency
# add_rostest_gtest(servo_low_latency_test
Expand Down
4 changes: 2 additions & 2 deletions moveit_ros/moveit_servo/test/unit_test_servo_calcs.cpp
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Expand Up @@ -360,7 +360,7 @@ TEST_F(ServoCalcsTestFixture, TestEnforceVelLimits)
for (size_t i = 0; i < 7; ++i)
{
// We need to check vs radians-per-loop allowable rate (not rad/s)
EXPECT_LE(desired_velocity[i], vel_limits[i] * servo_calcs_->parameters_->publish_period);
EXPECT_GE(desired_velocity[i], vel_limits[i] * servo_calcs_->parameters_->publish_period);
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}

// Let's check the negative velocities too
Expand All @@ -370,7 +370,7 @@ TEST_F(ServoCalcsTestFixture, TestEnforceVelLimits)
for (size_t i = 0; i < 7; ++i)
{
// We need to check vs radians-per-loop allowable rate (not rad/s)
EXPECT_GE(desired_velocity[i], -1 * vel_limits[i] * servo_calcs_->parameters_->publish_period);
EXPECT_LE(desired_velocity[i], -1 * vel_limits[i] * servo_calcs_->parameters_->publish_period);
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}
}

Expand Down