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Use RobotModelBuilder to simplify tests (#225)
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* Simplify RobotModel definition using RobotModelBuilder
* Silent RobotModel errors once in models.cpp
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@rhaschke
rhaschke authored Dec 30, 2020
1 parent 8a913d8 commit f99d033
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Showing 7 changed files with 23 additions and 227 deletions.
4 changes: 2 additions & 2 deletions core/test/CMakeLists.txt
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Expand Up @@ -16,7 +16,7 @@ if (CATKIN_ENABLE_TESTING)
target_link_libraries(${PROJECT_NAME}-test-container ${PROJECT_NAME} ${PROJECT_NAME}_stages gtest_utils gtest_main)

catkin_add_gtest(${PROJECT_NAME}-test-serial test_serial.cpp)
target_link_libraries(${PROJECT_NAME}-test-serial ${PROJECT_NAME} ${PROJECT_NAME}_stages gtest_main)
target_link_libraries(${PROJECT_NAME}-test-serial ${PROJECT_NAME} ${PROJECT_NAME}_stages gtest_utils gtest_main)

catkin_add_gtest(${PROJECT_NAME}-test-properties test_properties.cpp)
target_link_libraries(${PROJECT_NAME}-test-properties ${PROJECT_NAME} gtest_main)
Expand All @@ -25,7 +25,7 @@ if (CATKIN_ENABLE_TESTING)
target_link_libraries(${PROJECT_NAME}-test-cost_queue ${PROJECT_NAME} gtest_main)

catkin_add_gtest(${PROJECT_NAME}-test-interface_state test_interface_state.cpp)
target_link_libraries(${PROJECT_NAME}-test-interface_state ${PROJECT_NAME} gtest_main)
target_link_libraries(${PROJECT_NAME}-test-interface_state ${PROJECT_NAME} gtest_utils gtest_main)

catkin_add_gtest(${PROJECT_NAME}-test-cost_terms test_cost_terms.cpp)
target_link_libraries(${PROJECT_NAME}-test-cost_terms ${PROJECT_NAME} ${PROJECT_NAME}_stages gtest_utils gtest_main)
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189 changes: 11 additions & 178 deletions core/test/models.cpp
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@@ -1,187 +1,20 @@
#include "models.h"
#include <moveit/robot_model/robot_model.h>
#include <moveit/utils/robot_model_test_utils.h>
#include <moveit/robot_model_loader/robot_model_loader.h>
#include <urdf_parser/urdf_parser.h>

using namespace moveit::core;
namespace {

const std::string R_MODEL0 = "<?xml version=\"1.0\" ?>"
"<robot name=\"one_robot\">"
"<link name=\"base_link\">"
" <inertial>"
" <mass value=\"2.81\"/>"
" <origin rpy=\"0 0 0\" xyz=\"0.0 0.0 .0\"/>"
" <inertia ixx=\"0.1\" ixy=\"-0.2\" ixz=\"0.5\" iyy=\"-.09\" iyz=\"1\" izz=\"0.101\"/>"
" </inertial>"
" <collision name=\"my_collision\">"
" <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>"
" <geometry>"
" <box size=\"1 2 1\" />"
" </geometry>"
" </collision>"
" <visual>"
" <origin rpy=\"0 0 0\" xyz=\"0.0 0 0\"/>"
" <geometry>"
" <box size=\"1 2 1\" />"
" </geometry>"
" </visual>"
"</link>"
"<joint name=\"joint_a\" type=\"continuous\">"
" <axis xyz=\"0 0 1\"/>"
" <parent link=\"base_link\"/>"
" <child link=\"link_a\"/>"
" <origin rpy=\" 0.0 0 0 \" xyz=\"0.0 0 0 \"/>"
"</joint>"
"<link name=\"link_a\">"
" <inertial>"
" <mass value=\"1.0\"/>"
" <origin rpy=\"0 0 0\" xyz=\"0.0 0.0 .0\"/>"
" <inertia ixx=\"0.1\" ixy=\"-0.2\" ixz=\"0.5\" iyy=\"-.09\" iyz=\"1\" izz=\"0.101\"/>"
" </inertial>"
" <collision>"
" <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>"
" <geometry>"
" <box size=\"1 2 1\" />"
" </geometry>"
" </collision>"
" <visual>"
" <origin rpy=\"0 0 0\" xyz=\"0.0 0 0\"/>"
" <geometry>"
" <box size=\"1 2 1\" />"
" </geometry>"
" </visual>"
"</link>"
"<joint name=\"joint_b\" type=\"fixed\">"
" <parent link=\"link_a\"/>"
" <child link=\"link_b\"/>"
" <origin rpy=\" 0.0 -0.42 0 \" xyz=\"0.0 0.5 0 \"/>"
"</joint>"
"<link name=\"link_b\">"
" <inertial>"
" <mass value=\"1.0\"/>"
" <origin rpy=\"0 0 0\" xyz=\"0.0 0.0 .0\"/>"
" <inertia ixx=\"0.1\" ixy=\"-0.2\" ixz=\"0.5\" iyy=\"-.09\" iyz=\"1\" izz=\"0.101\"/>"
" </inertial>"
" <collision>"
" <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>"
" <geometry>"
" <box size=\"1 2 1\" />"
" </geometry>"
" </collision>"
" <visual>"
" <origin rpy=\"0 0 0\" xyz=\"0.0 0 0\"/>"
" <geometry>"
" <box size=\"1 2 1\" />"
" </geometry>"
" </visual>"
"</link>"
" <joint name=\"joint_c\" type=\"prismatic\">"
" <axis xyz=\"1 0 0\"/>"
" <limit effort=\"100.0\" lower=\"0.0\" upper=\"0.09\" velocity=\"0.2\"/>"
" <safety_controller k_position=\"20.0\" k_velocity=\"500.0\" soft_lower_limit=\"0.0\" "
"soft_upper_limit=\"0.089\"/>"
" <parent link=\"link_b\"/>"
" <child link=\"link_c\"/>"
" <origin rpy=\" 0.0 0.42 0.0 \" xyz=\"0.0 -0.1 0 \"/>"
" </joint>"
"<link name=\"link_c\">"
" <inertial>"
" <mass value=\"1.0\"/>"
" <origin rpy=\"0 0 0\" xyz=\"0.0 0 .0\"/>"
" <inertia ixx=\"0.1\" ixy=\"-0.2\" ixz=\"0.5\" iyy=\"-.09\" iyz=\"1\" izz=\"0.101\"/>"
" </inertial>"
" <collision>"
" <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>"
" <geometry>"
" <box size=\"1 2 1\" />"
" </geometry>"
" </collision>"
" <visual>"
" <origin rpy=\"0 0 0\" xyz=\"0.0 0 0\"/>"
" <geometry>"
" <box size=\"1 2 1\" />"
" </geometry>"
" </visual>"
"</link>"
" <joint name=\"mim_f\" type=\"prismatic\">"
" <axis xyz=\"1 0 0\"/>"
" <limit effort=\"100.0\" lower=\"0.0\" upper=\"0.19\" velocity=\"0.2\"/>"
" <parent link=\"link_c\"/>"
" <child link=\"link_d\"/>"
" <origin rpy=\" 0.0 0.1 0.0 \" xyz=\"0.1 0.1 0 \"/>"
" <mimic joint=\"joint_f\" multiplier=\"1.5\" offset=\"0.1\"/>"
" </joint>"
" <joint name=\"joint_f\" type=\"prismatic\">"
" <axis xyz=\"1 0 0\"/>"
" <limit effort=\"100.0\" lower=\"0.0\" upper=\"0.19\" velocity=\"0.2\"/>"
" <parent link=\"link_d\"/>"
" <child link=\"link_e\"/>"
" <origin rpy=\" 0.0 0.1 0.0 \" xyz=\"0.1 0.1 0 \"/>"
" </joint>"
"<link name=\"link_d\">"
" <collision>"
" <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>"
" <geometry>"
" <box size=\"1 2 1\" />"
" </geometry>"
" </collision>"
" <visual>"
" <origin rpy=\"0 1 0\" xyz=\"0 0.1 0\"/>"
" <geometry>"
" <box size=\"1 2 1\" />"
" </geometry>"
" </visual>"
"</link>"
"<link name=\"link_e\">"
" <collision>"
" <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>"
" <geometry>"
" <box size=\"1 2 1\" />"
" </geometry>"
" </collision>"
" <visual>"
" <origin rpy=\"0 1 0\" xyz=\"0 0.1 0\"/>"
" <geometry>"
" <box size=\"1 2 1\" />"
" </geometry>"
" </visual>"
"</link>"
"</robot>";

const std::string S_MODEL0 =
"<?xml version=\"1.0\" ?>"
"<robot name=\"one_robot\">"
"<virtual_joint name=\"base_joint\" child_link=\"base_link\" parent_frame=\"odom_combined\" type=\"planar\"/>"
"<group name=\"base_from_joints\">"
"<joint name=\"base_joint\"/>"
"<joint name=\"joint_a\"/>"
"<joint name=\"joint_c\"/>"
"</group>"
"<group name=\"mim_joints\">"
"<joint name=\"joint_f\"/>"
"<joint name=\"mim_f\"/>"
"</group>"
"<group name=\"base_with_subgroups\">"
"<group name=\"base_from_base_to_tip\"/>"
"<joint name=\"joint_c\"/>"
"</group>"
"<group name=\"base_from_base_to_tip\">"
"<chain base_link=\"base_link\" tip_link=\"link_b\"/>"
"<joint name=\"base_joint\"/>"
"</group>"
"<group name=\"base_with_bad_subgroups\">"
"<group name=\"error\"/>"
"</group>"
"<end_effector name=\"eef\" parent_link=\"link_b\" group=\"mim_joints\" parent_group=\"base_from_base_to_tip\"/>"
"</robot>";
} // namespace

RobotModelPtr getModel() {
urdf::ModelInterfaceSharedPtr urdf_model = urdf::parseURDF(R_MODEL0);
srdf::ModelSharedPtr srdf_model(new srdf::Model());
srdf_model->initString(*urdf_model, S_MODEL0);
return RobotModelPtr(new RobotModel(urdf_model, srdf_model));
// suppress RobotModel errors and warnings
ros::console::set_logger_level(ROSCONSOLE_ROOT_LOGGER_NAME ".moveit_core.robot_model", ros::console::levels::Fatal);

// create dummy robot model
moveit::core::RobotModelBuilder builder("robot", "base");
builder.addChain("base->link1->link2->tip", "continuous");
builder.addGroupChain("base", "link2", "group");
builder.addGroupChain("link2", "tip", "eef_group");
builder.addEndEffector("eef", "link2", "group", "eef_group");
return builder.build();
}

moveit::core::RobotModelPtr loadModel() {
Expand Down
15 changes: 3 additions & 12 deletions core/test/test_container.cpp
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Expand Up @@ -3,8 +3,8 @@
#include <moveit/task_constructor/task_p.h>
#include <moveit/task_constructor/stages/fixed_state.h>
#include <moveit/planning_scene/planning_scene.h>
#include <moveit/utils/robot_model_test_utils.h>

#include "models.h"
#include "gtest_value_printers.h"
#include <gtest/gtest.h>
#include <initializer_list>
Expand Down Expand Up @@ -686,11 +686,7 @@ TEST(Task, move) {
}

TEST(Task, reuse) {
// create dummy robot model
moveit::core::RobotModelBuilder builder("robot", "base");
builder.addChain("base->a->b->c", "continuous");
builder.addGroupChain("base", "c", "group");
moveit::core::RobotModelConstPtr robot_model = builder.build();
moveit::core::RobotModelConstPtr robot_model = getModel();

Task t("first");
t.setRobotModel(robot_model);
Expand Down Expand Up @@ -725,13 +721,8 @@ TEST(Task, reuse) {

TEST(Task, timeout) {
MOCK_ID = 0;
// create dummy robot model
moveit::core::RobotModelBuilder builder("robot", "base");
builder.addChain("base->a->b->c", "continuous");
builder.addGroupChain("base", "c", "group");

Task t;
t.setRobotModel(builder.build());
t.setRobotModel(getModel());

auto timeout = std::chrono::milliseconds(10);
t.add(std::make_unique<GeneratorMockup>(100)); // allow up to 100 solutions spawned
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8 changes: 0 additions & 8 deletions core/test/test_cost_terms.cpp
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Expand Up @@ -172,7 +172,6 @@ class Standalone : public T
};

TEST(CostTerm, SetLambdaCostTerm) {
ros::console::set_logger_level(ROSCONSOLE_ROOT_LOGGER_NAME, ros::console::levels::Fatal);
const moveit::core::RobotModelConstPtr robot{ getModel() };

Standalone<SerialContainer> container(robot);
Expand All @@ -198,7 +197,6 @@ TEST(CostTerm, SetLambdaCostTerm) {
}

TEST(CostTerm, CostOverwrite) {
ros::console::set_logger_level(ROSCONSOLE_ROOT_LOGGER_NAME, ros::console::levels::Fatal);
const moveit::core::RobotModelConstPtr robot{ getModel() };

Standalone<SerialContainer> container(robot);
Expand All @@ -215,7 +213,6 @@ TEST(CostTerm, CostOverwrite) {
}

TEST(CostTerm, StageTypes) {
ros::console::set_logger_level(ROSCONSOLE_ROOT_LOGGER_NAME, ros::console::levels::Fatal);
moveit::core::RobotModelPtr robot{ getModel() };

Standalone<SerialContainer> container(robot);
Expand All @@ -237,7 +234,6 @@ TEST(CostTerm, StageTypes) {
}

TEST(CostTerm, PassThroughUsesCost) {
ros::console::set_logger_level(ROSCONSOLE_ROOT_LOGGER_NAME, ros::console::levels::Fatal);
moveit::core::RobotModelPtr robot{ getModel() };
Standalone<stages::PassThrough> container(robot);

Expand All @@ -253,7 +249,6 @@ TEST(CostTerm, PassThroughUsesCost) {
}

TEST(CostTerm, PassThroughOverwritesCost) {
ros::console::set_logger_level(ROSCONSOLE_ROOT_LOGGER_NAME, ros::console::levels::Fatal);
moveit::core::RobotModelPtr robot{ getModel() };
Standalone<stages::PassThrough> container(robot);

Expand All @@ -271,7 +266,6 @@ TEST(CostTerm, PassThroughOverwritesCost) {
}

TEST(CostTerm, PassThroughCanModifyCost) {
ros::console::set_logger_level(ROSCONSOLE_ROOT_LOGGER_NAME, ros::console::levels::Fatal);
moveit::core::RobotModelPtr robot{ getModel() };
Standalone<stages::PassThrough> container(robot);

Expand All @@ -287,7 +281,6 @@ TEST(CostTerm, PassThroughCanModifyCost) {
}

TEST(CostTerm, CompositeSolutions) {
ros::console::set_logger_level(ROSCONSOLE_ROOT_LOGGER_NAME, ros::console::levels::Fatal);
Standalone<SerialContainer> container{ getModel() };

{
Expand Down Expand Up @@ -330,7 +323,6 @@ TEST(CostTerm, CompositeSolutions) {
}

TEST(CostTerm, CompositeSolutionsContainerCost) {
ros::console::set_logger_level(ROSCONSOLE_ROOT_LOGGER_NAME, ros::console::levels::Fatal);
Standalone<SerialContainer> container{ getModel() };

auto s1{ std::make_unique<ForwardMockup>() };
Expand Down
10 changes: 2 additions & 8 deletions core/test/test_interface_state.cpp
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Original file line number Diff line number Diff line change
@@ -1,7 +1,8 @@
#include <moveit/task_constructor/storage.h>
#include <moveit/utils/robot_model_test_utils.h>
#include <moveit/task_constructor/stage_p.h>
#include <moveit/planning_scene/planning_scene.h>

#include "models.h"
#include <memory>
#include <algorithm>
#include <iterator>
Expand All @@ -28,13 +29,6 @@ TEST(InterfaceStatePriority, compare) {
EXPECT_TRUE(Prio(0, inf) > Prio(0, 0));
}

moveit::core::RobotModelConstPtr getModel() {
ros::console::set_logger_level("ros.moveit_core.robot_model", ros::console::levels::Error);
moveit::core::RobotModelBuilder builder("robot", "base");
builder.addChain("base->tip", "continuous");
return builder.build();
}

using Prio = InterfaceState::Priority;

// Interface that also stores passed states
Expand Down
12 changes: 2 additions & 10 deletions core/test/test_serial.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,7 @@
#include <moveit/planning_scene/planning_scene.h>
#include <moveit/utils/robot_model_test_utils.h>

#include "models.h"
#include <list>
#include <memory>
#include <gtest/gtest.h>
Expand Down Expand Up @@ -107,7 +108,7 @@ struct Connect : stages::Connect

static GroupPlannerVector getPlanners() {
auto planner = std::make_shared<solvers::JointInterpolationPlanner>();
return { { "group1", planner }, { "group2", planner } };
return { { "group", planner }, { "eef_group", planner } };
}

Connect(std::initializer_list<double> costs = {}, bool enforce_sequential = false)
Expand All @@ -129,15 +130,6 @@ unsigned int ForwardMockup::id_ = 0;
unsigned int BackwardMockup::id_ = 0;
unsigned int Connect::id_ = 0;

moveit::core::RobotModelConstPtr getModel() {
ros::console::set_logger_level("ros.moveit_core.robot_model", ros::console::levels::Error);
moveit::core::RobotModelBuilder builder("robot", "base");
builder.addChain("base->a->b->c", "continuous");
builder.addGroupChain("base", "b", "group1");
builder.addGroupChain("b", "c", "group2");
return builder.build();
}

// https://github.com/ros-planning/moveit_task_constructor/issues/182
TEST(ConnectConnect, SuccSucc) {
GeneratorMockup::id_ = Connect::id_ = 0; // reset IDs
Expand Down
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