Tests for various robots and inverse kinematics plugins
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kinematics_base_test
kinematics_tests_support
kuka_kr210_manipulator_ik_plugin
motoman_sia20d_ikfast_manipulator_plugin
test_kuka_kr210_moveit_config
test_motoman_sia20d_moveit_config
.clang-format
.gitignore
.travis.yml
README.md
install.rosinstall

README.md

kinematics base tests

This repo runs unit tests on several implementations of the moveit_core::KinematicsBase interface that are available as plugins. These implementations include the ikfast and kdl solvers. The tests consist of calling commonly used interface methods such as initialize, searchPositionIK, searchPositionIK (with callback), getPositionIK and getPositionIK (with multiple solutions). The ik_fast solvers tested here are those for the KukakR210 and Motoman SIA20d robots. The MotomanSIA20d arm is a 7 DOF and so it allows testing the redundant joint case.

Installation

  • Install wstool in order manage the repos inside the workspace

    sudo apt-get install python-wstool
    
  • Cd into the 'src' directory of your catkin workspace and run the following:

    wstool init . 
    wstool merge https://raw.githubusercontent.com/ros-planning/moveit_kinematics_tests/jade-devel/install.rosinstall
    wstool update
    rosdep install --from-paths . --ignore-src
    cd ..
    catkin build
    

Run ROS unit test

  • Cd into the catkin workspace directory and run the following

    catkin run_tests kinematics_base_test
    

See tests summary

  • Run the following:

    catkin_test_results