planning_interface: synchronize async interfaces in test #2640
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If the planner could not achieve 100%, there is no sense in executing the trajectory to find we did not arrive at the destination...
In order to synchronize we subscribe to the monitored_planning_scene of the move_group node and wait for geometry updates. Because the test is the only thing interacting with the `move_group`, it should be ok to wait for a single geometry update in each case. Additionally a short sleep needs to be added after creating MGI & PSI to allow the `move_group` node to subscribe. Otherwise the first test might fail just because the message was dropped.
Codecov Report
@@ Coverage Diff @@
## master #2640 +/- ##
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+ Coverage 60.46% 60.51% +0.06%
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Files 402 402
Lines 29619 29619
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+ Hits 17905 17920 +15
+ Misses 11714 11699 -15
Continue to review full report at Codecov.
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rhaschke
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May 3, 2021
rhaschke
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May 23, 2021
* MGI test: synchronize async methods for testing purposes In order to synchronize we subscribe to the monitored_planning_scene of the move_group node and wait for geometry updates. Because the test is the only thing interacting with the `move_group`, it should be ok to wait for a single geometry update in each case. Additionally, a short sleep needs to be added after creating MGI & PSI to allow the `move_group` node to subscribe. Otherwise, the first test might fail just because the message was dropped. * Add assert for computeCartesianPath's return value If the planner could not achieve 100%, there is no sense in executing the trajectory to find we did not arrive at the destination...
rhaschke
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May 23, 2021
* MGI test: synchronize async methods for testing purposes In order to synchronize we subscribe to the monitored_planning_scene of the move_group node and wait for geometry updates. Because the test is the only thing interacting with the `move_group`, it should be ok to wait for a single geometry update in each case. Additionally, a short sleep needs to be added after creating MGI & PSI to allow the `move_group` node to subscribe. Otherwise, the first test might fail just because the message was dropped. * Add assert for computeCartesianPath's return value If the planner could not achieve 100%, there is no sense in executing the trajectory to find we did not arrive at the destination...
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sjahr
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Jun 21, 2024
As this check was missing, the CYLINDER check later on was unreachable
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It's always messy to synchronize these interfaces, so I don't use them in my own projects.
However, these are the only tests we have for the async method calls at the moment, so we should make them run
reliablyas reliably as possible.There is no sense in running these updates asynchronously for testing the interfaces, so I added a (somewhat cumbersome) feedback channel to wait for the triggered updates.
I'm not aware of a better solution for this that does not consist of repeatedly polling the service.
Hopefully this closes #2636 .
Locally
CartPathTestfails quite often over here, possibly due to a full debug build that could make IK requests time out, that's why I added the additionalASSERTthere to ease debugging. I don't think I've ever seen it fail in CI though. 馃槙