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Merge pull request #14 from tork-a/add_ur5_tests
Add ur5 tests
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,176 @@ | ||
| #! /usr/bin/env python | ||
| # -*- coding: utf-8 -*- | ||
| import actionlib | ||
| from control_msgs.msg import ( | ||
| FollowJointTrajectoryAction, | ||
| FollowJointTrajectoryGoal, | ||
| ) | ||
| import math | ||
| import rospy | ||
| import sys | ||
| from trajectory_msgs.msg import ( | ||
| JointTrajectoryPoint, | ||
| ) | ||
| import sys | ||
| from jog_msgs.msg import JogFrame | ||
| import rospy | ||
| import rostest | ||
| from sensor_msgs.msg import JointState | ||
| import tf | ||
| import unittest | ||
|
|
||
| class TestJogFrameNode(unittest.TestCase): | ||
| @classmethod | ||
| def setUpClass(cls): | ||
| rospy.init_node('test_jog_frame_node') | ||
|
|
||
| def setUp(self): | ||
| # Get parameters | ||
| self.controller_name = rospy.get_param('~controller_name', 'arm_controller') | ||
| self.action_name = rospy.get_param('~action_name', 'follow_joint_trajectory') | ||
| self.joint_names = rospy.get_param('~joint_names', []) | ||
| self.home_positions = rospy.get_param('~home_positions', []) | ||
| self.frame_id = rospy.get_param('~frame_id', 'base_link') | ||
| self.group_name = rospy.get_param('~group_name', 'manipulator') | ||
| self.link_name = rospy.get_param('~link_name', 'ee_link') | ||
| self.linear_delta = rospy.get_param('~linear_delta', 0.005) | ||
| self.angular_delta = rospy.get_param('~angular_delta', 0.01) | ||
| # TF listener | ||
| self.listener = tf.TransformListener() | ||
| # Publishers | ||
| self.pub = rospy.Publisher('jog_frame', JogFrame, queue_size=10) | ||
| # Actionlib | ||
| self.client = actionlib.SimpleActionClient( | ||
| self.controller_name + '/' + self.action_name, FollowJointTrajectoryAction) | ||
| self.client.wait_for_server() | ||
| # Move to home position | ||
| self.move_to_home() | ||
|
|
||
| def move_to_home(self): | ||
| goal = FollowJointTrajectoryGoal() | ||
| goal.trajectory.header.stamp = rospy.Time.now() | ||
| goal_time_tolerance = rospy.Time(0.1) | ||
| goal.goal_time_tolerance = rospy.Time(0.1) | ||
| goal.trajectory.joint_names = self.joint_names | ||
| point = JointTrajectoryPoint() | ||
| point.positions = self.home_positions | ||
| point.time_from_start = rospy.Duration(1.0) | ||
| goal.trajectory.points.append(point) | ||
| self.client.send_goal(goal) | ||
| self.assertTrue(self.client.wait_for_result(timeout=rospy.Duration(5.0))) | ||
| rospy.sleep(1.0) | ||
|
|
||
| def test_a_jog_with_linear_delta(self): | ||
| '''Test to jog a command with linear delta''' | ||
| # Get current posture of link_name | ||
| (start_pos, start_rot) = self.listener.lookupTransform( | ||
| self.frame_id, self.link_name, rospy.Time(0)) | ||
|
|
||
| # Create jog frame command | ||
| jog = JogFrame() | ||
| jog.header.stamp = rospy.Time.now() | ||
| jog.header.frame_id = self.frame_id | ||
| jog.group_name = self.group_name | ||
| jog.link_name = self.link_name | ||
| jog.linear_delta.x = self.linear_delta | ||
| jog.linear_delta.y = self.linear_delta | ||
| jog.linear_delta.z = self.linear_delta | ||
| self.pub.publish(jog) | ||
| rospy.sleep(3.0) | ||
| (pos, rot) = self.listener.lookupTransform( | ||
| self.frame_id, self.link_name, rospy.Time(0)) | ||
| # Check if the position is jogged by delta | ||
| for i in range(3): | ||
| self.assertAlmostEqual(pos[i], start_pos[i] + self.linear_delta, delta=0.0001) | ||
| # Check if the rotaion is not changed | ||
| rot_diff = tf.transformations.quaternion_multiply( | ||
| tf.transformations.quaternion_inverse(start_rot), rot) | ||
| for i in range(4): | ||
| self.assertAlmostEqual(start_rot[i], rot[i], delta=0.0001) | ||
|
|
||
| def test_a_jog_with_angular_delta(self): | ||
| '''Test to jog a command with angular delta''' | ||
| # Get current posture of link_name | ||
| (start_pos, start_rot) = self.listener.lookupTransform( | ||
| self.frame_id, self.link_name, rospy.Time(0)) | ||
|
|
||
| # Create jog frame command | ||
| jog = JogFrame() | ||
| jog.header.stamp = rospy.Time.now() | ||
| jog.header.frame_id = self.frame_id | ||
| jog.group_name = self.group_name | ||
| jog.link_name = self.link_name | ||
| jog.angular_delta.x = self.angular_delta / math.sqrt(3.0) | ||
| jog.angular_delta.y = self.angular_delta / math.sqrt(3.0) | ||
| jog.angular_delta.z = self.angular_delta / math.sqrt(3.0) | ||
| self.pub.publish(jog) | ||
| rospy.sleep(3.0) | ||
| (pos, rot) = self.listener.lookupTransform( | ||
| self.frame_id, self.link_name, rospy.Time(0)) | ||
| # Check if the position is not changed | ||
| for i in range(3): | ||
| self.assertAlmostEqual(pos[i], start_pos[i], delta=0.0001) | ||
| # Check if the rotaion is jogged by delta | ||
| jog_q = tf.transformations.quaternion_about_axis(self.angular_delta, [1,1,1]) | ||
| ans_rot = tf.transformations.quaternion_multiply(jog_q, start_rot) | ||
| for i in range(4): | ||
| self.assertAlmostEqual(rot[i], ans_rot[i], delta=0.0001) | ||
|
|
||
| def test_ten_jogs_with_linear_delta(self): | ||
| '''Test to jog ten commands with linear delta''' | ||
| # Get current posture of link_name | ||
| (start_pos, start_rot) = self.listener.lookupTransform( | ||
| self.frame_id, self.link_name, rospy.Time(0)) | ||
|
|
||
| for i in range(10): | ||
| # Create jog frame command | ||
| jog = JogFrame() | ||
| jog.header.stamp = rospy.Time.now() | ||
| jog.header.frame_id = self.frame_id | ||
| jog.group_name = self.group_name | ||
| jog.link_name = self.link_name | ||
| jog.linear_delta.x = self.linear_delta | ||
| jog.linear_delta.y = self.linear_delta | ||
| jog.linear_delta.z = self.linear_delta | ||
| self.pub.publish(jog) | ||
| rospy.sleep(3.0) | ||
| (pos, rot) = self.listener.lookupTransform( | ||
| self.frame_id, self.link_name, rospy.Time(0)) | ||
| # Check if the position is jogged by delta | ||
| for i in range(3): | ||
| self.assertAlmostEqual(pos[i], start_pos[i] + self.linear_delta*10, delta=0.0001) | ||
| # Check if the rotaion is not changed | ||
| for i in range(4): | ||
| self.assertAlmostEqual(start_rot[i], rot[i], delta=0.0001) | ||
|
|
||
| def test_ten_jogs_with_angular_delta(self): | ||
| '''Test to jog ten commands with angular delta''' | ||
| # Get current posture of link_name | ||
| (start_pos, start_rot) = self.listener.lookupTransform( | ||
| self.frame_id, self.link_name, rospy.Time(0)) | ||
|
|
||
| for i in range(10): | ||
| # Create jog frame command | ||
| jog = JogFrame() | ||
| jog.header.stamp = rospy.Time.now() | ||
| jog.header.frame_id = self.frame_id | ||
| jog.group_name = self.group_name | ||
| jog.link_name = self.link_name | ||
| jog.angular_delta.x = self.angular_delta / math.sqrt(3.0) | ||
| jog.angular_delta.y = self.angular_delta / math.sqrt(3.0) | ||
| jog.angular_delta.z = self.angular_delta / math.sqrt(3.0) | ||
| self.pub.publish(jog) | ||
| rospy.sleep(3.0) | ||
| (pos, rot) = self.listener.lookupTransform( | ||
| self.frame_id, self.link_name, rospy.Time(0)) | ||
| # Check if the position is not changed | ||
| for i in range(3): | ||
| self.assertAlmostEqual(pos[i], start_pos[i], delta=0.0001) | ||
| # Check if the rotaion is jogged by delta | ||
| jog_q = tf.transformations.quaternion_about_axis(self.angular_delta*10, [1,1,1]) | ||
| ans_rot = tf.transformations.quaternion_multiply(jog_q, start_rot) | ||
| for i in range(4): | ||
| self.assertAlmostEqual(rot[i], ans_rot[i], delta=0.0001) | ||
|
|
||
| if __name__ == '__main__': | ||
| rostest.rosrun('jog_frame', 'test_jog_frame_node', TestJogFrameNode) |
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