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Merge pull request moveit#3538 from v4hn/keep-monitoring-same-scene-o…
…bject PSM: keep references to scene_ valid upon receiving full scenes
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moveit_ros/planning/planning_scene_monitor/test/planning_scene_monitor.test
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,7 @@ | ||
| <launch> | ||
| <include file="$(find moveit_resources_fanuc_moveit_config)/launch/planning_context.launch"> | ||
| <arg name="load_robot_description" value="true"/> | ||
| </include> | ||
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| <test test-name="planning_scene_monitor_test" pkg="moveit_ros_planning" type="planning_scene_monitor_test" /> | ||
| </launch> |
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moveit_ros/planning/planning_scene_monitor/test/planning_scene_monitor_test.cpp
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| /********************************************************************* | ||
| * Software License Agreement (BSD License) | ||
| * | ||
| * Copyright (c) 2023, University of Hamburg | ||
| * All rights reserved. | ||
| * | ||
| * Redistribution and use in source and binary forms, with or without | ||
| * modification, are permitted provided that the following conditions | ||
| * are met: | ||
| * | ||
| * * Redistributions of source code must retain the above copyright | ||
| * notice, this list of conditions and the following disclaimer. | ||
| * * Redistributions in binary form must reproduce the above | ||
| * copyright notice, this list of conditions and the following | ||
| * disclaimer in the documentation and/or other materials provided | ||
| * with the distribution. | ||
| * * Neither the name of the copyright holder nor the names of its | ||
| * contributors may be used to endorse or promote products derived | ||
| * from this software without specific prior written permission. | ||
| * | ||
| * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
| * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
| * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
| * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
| * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
| * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
| * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| * POSSIBILITY OF SUCH DAMAGE. | ||
| *********************************************************************/ | ||
|
|
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| /* Author: Michael 'v4hn' Goerner | ||
| Desc: Tests for PlanningSceneMonitor | ||
| */ | ||
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| // ROS | ||
| #include <ros/ros.h> | ||
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| // Testing | ||
| #include <gtest/gtest.h> | ||
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| // Main class | ||
| #include <moveit/planning_scene_monitor/planning_scene_monitor.h> | ||
| #include <moveit/robot_state/conversions.h> | ||
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| class PlanningSceneMonitorTest : public ::testing::Test | ||
| { | ||
| public: | ||
| void SetUp() override | ||
| { | ||
| psm = std::make_unique<planning_scene_monitor::PlanningSceneMonitor>("robot_description"); | ||
| psm->monitorDiffs(true); | ||
| scene = psm->getPlanningScene(); | ||
| } | ||
|
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| void TearDown() override | ||
| { | ||
| scene.reset(); | ||
| } | ||
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| protected: | ||
| planning_scene_monitor::PlanningSceneMonitorPtr psm; | ||
| planning_scene::PlanningScenePtr scene; | ||
| }; | ||
|
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| // various code expects the monitored scene to remain the same | ||
| TEST_F(PlanningSceneMonitorTest, TestPersistentScene) | ||
| { | ||
| auto scene{ psm->getPlanningScene() }; | ||
| moveit_msgs::PlanningScene msg; | ||
| msg.is_diff = msg.robot_state.is_diff = true; | ||
| psm->newPlanningSceneMessage(msg); | ||
| EXPECT_EQ(scene, psm->getPlanningScene()); | ||
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| msg.is_diff = msg.robot_state.is_diff = false; | ||
| psm->newPlanningSceneMessage(msg); | ||
| EXPECT_EQ(scene, psm->getPlanningScene()); | ||
| } | ||
|
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| using UpdateType = planning_scene_monitor::PlanningSceneMonitor::SceneUpdateType; | ||
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| #define TRIGGERS_UPDATE(msg, expected_update_type) \ | ||
| { \ | ||
| psm->clearUpdateCallbacks(); \ | ||
| auto received_update_type{ UpdateType::UPDATE_NONE }; \ | ||
| psm->addUpdateCallback([&](auto type) { received_update_type = type; }); \ | ||
| psm->newPlanningSceneMessage(msg); \ | ||
| EXPECT_EQ(received_update_type, expected_update_type); \ | ||
| } | ||
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| TEST_F(PlanningSceneMonitorTest, UpdateTypes) | ||
| { | ||
| moveit_msgs::PlanningScene msg; | ||
| msg.is_diff = msg.robot_state.is_diff = true; | ||
| TRIGGERS_UPDATE(msg, UpdateType::UPDATE_NONE); | ||
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| msg.fixed_frame_transforms.emplace_back(); | ||
| msg.fixed_frame_transforms.back().header.frame_id = "base_link"; | ||
| msg.fixed_frame_transforms.back().child_frame_id = "object"; | ||
| msg.fixed_frame_transforms.back().transform.rotation.w = 1.0; | ||
| TRIGGERS_UPDATE(msg, UpdateType::UPDATE_TRANSFORMS); | ||
| msg.fixed_frame_transforms.clear(); | ||
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| moveit::core::robotStateToRobotStateMsg(scene->getCurrentState(), msg.robot_state, false); | ||
| msg.robot_state.is_diff = true; | ||
| TRIGGERS_UPDATE(msg, UpdateType::UPDATE_STATE); | ||
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| msg.robot_state.is_diff = false; | ||
| TRIGGERS_UPDATE(msg, UpdateType::UPDATE_STATE | UpdateType::UPDATE_GEOMETRY); | ||
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| msg.robot_state = moveit_msgs::RobotState{}; | ||
| msg.robot_state.is_diff = true; | ||
| moveit_msgs::CollisionObject co; | ||
| co.header.frame_id = "base_link"; | ||
| co.id = "object"; | ||
| co.operation = moveit_msgs::CollisionObject::ADD; | ||
| co.pose.orientation.w = 1.0; | ||
| co.primitives.emplace_back(); | ||
| co.primitives.back().type = shape_msgs::SolidPrimitive::SPHERE; | ||
| co.primitives.back().dimensions = { 1.0 }; | ||
| msg.world.collision_objects.emplace_back(co); | ||
| TRIGGERS_UPDATE(msg, UpdateType::UPDATE_GEOMETRY); | ||
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| msg.world.collision_objects.clear(); | ||
| msg.is_diff = false; | ||
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| TRIGGERS_UPDATE(msg, UpdateType::UPDATE_SCENE); | ||
| } | ||
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| int main(int argc, char** argv) | ||
| { | ||
| testing::InitGoogleTest(&argc, argv); | ||
| ros::init(argc, argv, "planning_scene_monitor_test"); | ||
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| // ros::AsyncSpinner spinner{ 1 }; | ||
| // spinner.start(); | ||
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| return RUN_ALL_TESTS(); | ||
| } |