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PSM: keep references to scene_ valid upon receiving full scenes (#2745)
plan_execution-related modules rely on `plan.planning_scene_` in many places to point to the currently monitored scene (or a diff on top of it). Before this patch, if the PSM would receive full scenes during execution, `plan.planning_scene_` would not include later incremental updates anymore because the monitor created a new diff scene. --------- Co-authored-by: v4hn <[email protected]>
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92 changes: 92 additions & 0 deletions
92
moveit_ros/planning/planning_scene_monitor/test/launch/planning_scene_monitor.test.py
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,92 @@ | ||
| import os | ||
| import launch | ||
| import unittest | ||
| import launch_ros | ||
| import launch_testing | ||
| from ament_index_python.packages import get_package_share_directory | ||
| from moveit_configs_utils import MoveItConfigsBuilder | ||
|
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| def generate_test_description(): | ||
| moveit_config = ( | ||
| MoveItConfigsBuilder("moveit_resources_panda") | ||
| .robot_description(file_path="config/panda.urdf.xacro") | ||
| .to_moveit_configs() | ||
| ) | ||
|
|
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| # ros2_control using FakeSystem as hardware | ||
| ros2_controllers_path = os.path.join( | ||
| get_package_share_directory("moveit_resources_panda_moveit_config"), | ||
| "config", | ||
| "ros2_controllers.yaml", | ||
| ) | ||
| ros2_control_node = launch_ros.actions.Node( | ||
| package="controller_manager", | ||
| executable="ros2_control_node", | ||
| parameters=[ros2_controllers_path], | ||
| remappings=[ | ||
| ("/controller_manager/robot_description", "/robot_description"), | ||
| ], | ||
| output="screen", | ||
| ) | ||
|
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| joint_state_broadcaster_spawner = launch_ros.actions.Node( | ||
| package="controller_manager", | ||
| executable="spawner", | ||
| arguments=[ | ||
| "joint_state_broadcaster", | ||
| "--controller-manager-timeout", | ||
| "300", | ||
| "--controller-manager", | ||
| "/controller_manager", | ||
| ], | ||
| output="screen", | ||
| ) | ||
|
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| panda_arm_controller_spawner = launch_ros.actions.Node( | ||
| package="controller_manager", | ||
| executable="spawner", | ||
| arguments=["panda_arm_controller", "-c", "/controller_manager"], | ||
| ) | ||
|
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| psm_gtest = launch_ros.actions.Node( | ||
| executable=launch.substitutions.PathJoinSubstitution( | ||
| [ | ||
| launch.substitutions.LaunchConfiguration("test_binary_dir"), | ||
| "planning_scene_monitor_test", | ||
| ] | ||
| ), | ||
| parameters=[ | ||
| moveit_config.to_dict(), | ||
| ], | ||
| output="screen", | ||
| ) | ||
|
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| return launch.LaunchDescription( | ||
| [ | ||
| launch.actions.TimerAction(period=2.0, actions=[ros2_control_node]), | ||
| launch.actions.TimerAction( | ||
| period=4.0, actions=[joint_state_broadcaster_spawner] | ||
| ), | ||
| launch.actions.TimerAction( | ||
| period=6.0, actions=[panda_arm_controller_spawner] | ||
| ), | ||
| launch.actions.TimerAction(period=9.0, actions=[psm_gtest]), | ||
| launch_testing.actions.ReadyToTest(), | ||
| ] | ||
| ), { | ||
| "psm_gtest": psm_gtest, | ||
| } | ||
|
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| class TestGTestWaitForCompletion(unittest.TestCase): | ||
| # Waits for test to complete, then waits a bit to make sure result files are generated | ||
| def test_gtest_run_complete(self, psm_gtest): | ||
| self.proc_info.assertWaitForShutdown(psm_gtest, timeout=4000.0) | ||
|
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| @launch_testing.post_shutdown_test() | ||
| class TestGTestProcessPostShutdown(unittest.TestCase): | ||
| # Checks if the test has been completed with acceptable exit codes (successful codes) | ||
| def test_gtest_pass(self, proc_info, psm_gtest): | ||
| launch_testing.asserts.assertExitCodes(proc_info, process=psm_gtest) |
154 changes: 154 additions & 0 deletions
154
moveit_ros/planning/planning_scene_monitor/test/planning_scene_monitor_test.cpp
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,154 @@ | ||
| /********************************************************************* | ||
| * 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. | ||
| *********************************************************************/ | ||
|
|
||
| /* Author: Michael 'v4hn' Goerner | ||
| Desc: Tests for PlanningSceneMonitor | ||
| */ | ||
|
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| // ROS | ||
| #include <rclcpp/rclcpp.hpp> | ||
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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 | ||
| { | ||
| test_node_ = std::make_shared<rclcpp::Node>("moveit_planning_scene_monitor_test"); | ||
| executor_ = std::make_shared<rclcpp::executors::SingleThreadedExecutor>(); | ||
| planning_scene_monitor_ = std::make_unique<planning_scene_monitor::PlanningSceneMonitor>( | ||
| test_node_, "robot_description", "planning_scene_monitor"); | ||
| planning_scene_monitor_->monitorDiffs(true); | ||
| scene_ = planning_scene_monitor_->getPlanningScene(); | ||
| executor_->add_node(test_node_); | ||
| executor_thread_ = std::thread([this]() { executor_->spin(); }); | ||
| } | ||
|
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| void TearDown() override | ||
| { | ||
| scene_.reset(); | ||
| executor_->cancel(); | ||
| if (executor_thread_.joinable()) | ||
| { | ||
| executor_thread_.join(); | ||
| } | ||
| } | ||
|
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| protected: | ||
| std::shared_ptr<rclcpp::Node> test_node_; | ||
|
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| // Executor and a thread to run the executor. | ||
| rclcpp::Executor::SharedPtr executor_; | ||
| std::thread executor_thread_; | ||
|
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| planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor_; | ||
| planning_scene::PlanningScenePtr scene_; | ||
| }; | ||
|
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| // various code expects the monitored scene to remain the same | ||
| TEST_F(PlanningSceneMonitorTest, TestPersistentScene) | ||
| { | ||
| auto scene{ planning_scene_monitor_->getPlanningScene() }; | ||
| moveit_msgs::msg::PlanningScene msg; | ||
| msg.is_diff = msg.robot_state.is_diff = true; | ||
| planning_scene_monitor_->newPlanningSceneMessage(msg); | ||
| EXPECT_EQ(scene, planning_scene_monitor_->getPlanningScene()); | ||
| msg.is_diff = msg.robot_state.is_diff = false; | ||
| planning_scene_monitor_->newPlanningSceneMessage(msg); | ||
| EXPECT_EQ(scene, planning_scene_monitor_->getPlanningScene()); | ||
| } | ||
|
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| using UpdateType = planning_scene_monitor::PlanningSceneMonitor::SceneUpdateType; | ||
|
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| #define TRIGGERS_UPDATE(msg, expected_update_type) \ | ||
| { \ | ||
| planning_scene_monitor_->clearUpdateCallbacks(); \ | ||
| auto received_update_type{ UpdateType::UPDATE_NONE }; \ | ||
| planning_scene_monitor_->addUpdateCallback([&](auto type) { received_update_type = type; }); \ | ||
| planning_scene_monitor_->newPlanningSceneMessage(msg); \ | ||
| EXPECT_EQ(received_update_type, expected_update_type); \ | ||
| } | ||
|
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| TEST_F(PlanningSceneMonitorTest, UpdateTypes) | ||
| { | ||
| moveit_msgs::msg::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(); | ||
| 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::msg::RobotState{}; | ||
| msg.robot_state.is_diff = true; | ||
| moveit_msgs::msg::CollisionObject collision_object; | ||
| collision_object.header.frame_id = "base_link"; | ||
| collision_object.id = "object"; | ||
| collision_object.operation = moveit_msgs::msg::CollisionObject::ADD; | ||
| collision_object.pose.orientation.w = 1.0; | ||
| collision_object.primitives.emplace_back(); | ||
| collision_object.primitives.back().type = shape_msgs::msg::SolidPrimitive::SPHERE; | ||
| collision_object.primitives.back().dimensions = { 1.0 }; | ||
| msg.world.collision_objects.emplace_back(collision_object); | ||
| 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) | ||
| { | ||
| rclcpp::init(argc, argv); | ||
| ::testing::InitGoogleTest(&argc, argv); | ||
| int result = RUN_ALL_TESTS(); | ||
| rclcpp::shutdown(); | ||
| return result; | ||
| } |