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Cleanup #3056 #3058

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merged 4 commits into from
Nov 5, 2024
Merged

Cleanup #3056 #3058

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ddfa7ff
Cleanup #3056
rhaschke Nov 4, 2024
8e62bde
Switch to PSM's waitForCurrentRobotState()
rhaschke Nov 5, 2024
5ffcc94
Back to StateMonitor usage
rhaschke Nov 5, 2024
1170de5
Merge branch 'main' into cleanup-3056
rhaschke Nov 5, 2024
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30 changes: 5 additions & 25 deletions moveit_ros/moveit_servo/tests/servo_cpp_fixture.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -61,24 +61,13 @@ class ServoCppFixture : public testing::Test
servo_params_ = servo_param_listener_->get_params();

planning_scene_monitor_ = moveit_servo::createPlanningSceneMonitor(servo_test_node_, servo_params_);

// Wait until the joint configuration is nonzero before starting MoveIt Servo.
int num_tries = 0;
const int max_tries = 20;
while (true)
// Wait for complete state update before starting MoveIt Servo.
if (!planning_scene_monitor_->getStateMonitor()->waitForCompleteState("panda_arm", 1.0))
{
const auto q = getCurrentJointPositions("panda_arm");
if (q.norm() > 0.0)
{
break;
}
if (num_tries > max_tries)
{
FAIL() << "Robot joint configuration did not reach expected state after some time. Test is flaky.";
}
std::this_thread::sleep_for(std::chrono::milliseconds(100));
num_tries++;
FAIL() << "Could not retrieve complete robot state";
}
// Forward state update to planning scene
planning_scene_monitor_->updateSceneWithCurrentState();

servo_test_instance_ =
std::make_shared<moveit_servo::Servo>(servo_test_node_, servo_param_listener_, planning_scene_monitor_);
Expand All @@ -91,15 +80,6 @@ class ServoCppFixture : public testing::Test
return locked_scene->getCurrentState().getGlobalLinkTransform(target_frame);
}

/// Helper function to get the joint configuration of a group.
Eigen::VectorXd getCurrentJointPositions(const std::string& group_name) const
{
planning_scene_monitor::LockedPlanningSceneRO locked_scene(planning_scene_monitor_);
std::vector<double> joint_positions;
locked_scene->getCurrentState().copyJointGroupPositions(group_name, joint_positions);
return Eigen::Map<Eigen::VectorXd>(joint_positions.data(), joint_positions.size());
}

std::shared_ptr<rclcpp::Node> servo_test_node_;
std::shared_ptr<const servo::ParamListener> servo_param_listener_;
servo::Params servo_params_;
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