Merge pull request #965 from tue-robotics/tak_out_the_garbage/fixes

Fix(nosetest): add construction test and make sure it works
tue-robotics · Dec 14, 2019 · ea423ba · ea423ba
2 parents 58fd400 + 94408b4
commit ea423ba
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Showing 4 changed files with 34 additions and 10 deletions.
diff --git a/challenge_take_out_the_garbage/src/challenge_take_out_the_garbage/drop_down.py b/challenge_take_out_the_garbage/src/challenge_take_out_the_garbage/drop_down.py
@@ -10,7 +10,7 @@
 CHALLENGE_KNOWLEDGE = load_knowledge('challenge_take_out_the_garbage')
 
 
-class DropTrash(smach.StateMachine):
+class DropTrash(smach.State):
     """
     State that moves the robot to the drop bag position and opens the gripper
     """

diff --git a/challenge_take_out_the_garbage/src/challenge_take_out_the_garbage/pick_up.py b/challenge_take_out_the_garbage/src/challenge_take_out_the_garbage/pick_up.py
@@ -26,7 +26,9 @@ class MeasureForce(object):
 
     def __init__(self, robot):
         """
+        Constructor
 
+        :param robot: robot object
         """
         self._robot = robot
 
@@ -227,17 +229,19 @@ def __init__(self, robot, arm_designator, grabbed_entity_label="", grabbed_entit
                                    transitions={'spoken': 'SHOW_IMAGE'})
 
             smach.StateMachine.add("SHOW_IMAGE",
-                                   states.ShowImageState(robot=robot, package_name='challenge_take_out_the_garbage',
-                                                         path_to_image_in_package=
-                                                         'src/challenge_take_out_the_garbage/beun_picture.png',
-                                                         seconds=5),
+                                   states.ShowImageState(
+                                        robot=robot,
+                                        image_filename="~/ros/kinetic/system/src/challenge_take_out_the_garbage/src"
+                                                       "/challenge_take_out_the_garbage/beun_picture.png",
+                                        seconds=5),
                                    transitions={'succeeded': 'CLOSE_AFTER_INSERT'})
 
-            smach.StateMachine.add('CLOSE_AFTER_INSERT', manipulation.CloseGripperOnHandoverToRobot(robot,
-                                                                                                    arm_designator,
-                                                                                                    grabbed_entity_label=grabbed_entity_label,
-                                                                                                    grabbed_entity_designator=grabbed_entity_designator,
-                                                                                                    timeout=timeout),
+            smach.StateMachine.add('CLOSE_AFTER_INSERT', manipulation.CloseGripperOnHandoverToRobot(
+                robot,
+                arm_designator,
+                grabbed_entity_label=grabbed_entity_label,
+                grabbed_entity_designator=grabbed_entity_designator,
+                timeout=timeout),
                                    transitions={'succeeded': 'succeeded',
                                                 'timeout': 'failed',
                                                 'failed': 'failed'})

diff --git a/challenge_take_out_the_garbage/test/test_construction.py b/challenge_take_out_the_garbage/test/test_construction.py
@@ -0,0 +1,18 @@
+import os
+import unittest
+
+
+class TestChallengeConstruction(unittest.TestCase):
+    def test_construction(self):
+        """
+        If no exception is raised, this test will succeed
+        """
+        os.environ["ROBOT_ENV"] = "robotics_testlabs"
+        from robot_skills.mockbot import Mockbot
+        from challenge_take_out_the_garbage.take_out_the_garbage import TakeOutGarbage
+        robot = Mockbot()
+        TakeOutGarbage(robot)
+
+
+if __name__ == '__main__':
+    unittest.main()
diff --git a/...ge/src/robocup_knowledge/environments/robotics_testlabs/challenge_take_out_the_garbage.py b/...ge/src/robocup_knowledge/environments/robotics_testlabs/challenge_take_out_the_garbage.py
@@ -9,4 +9,6 @@
 trashbin_id = "trashbin"
 trashbin_id2 = "trashbin"
 drop_zone_id = "operator_table"
+helper_waypoint = "initial_pose"
+end_waypoint = "initial_pose"