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Disable failing rdf test, merge #1163 and #1168 #1170

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merged 4 commits into from
Apr 7, 2022
+19 −12
Merged

Disable failing rdf test, merge #1163 and #1168 #1170

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3c20a36
Revert OMPL parameter loading
Apr 7, 2022
78d7e5c
Comment failing rdf integration test
Apr 7, 2022
7c0b270
Rename panda controllers
Apr 7, 2022
0804c0d
Fix failing test
JafarAbdi Apr 7, 2022
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9 changes: 8 additions & 1 deletion moveit_planners/ompl/ompl_interface/src/ompl_interface.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -197,7 +197,14 @@ void OMPLInterface::loadPlannerConfigurations()
<< rclcpp::to_string(parameter.get_type()) << "]");
continue;
}
specific_group_params[name] = parameter.value_to_string();
if (parameter.get_type() == rclcpp::ParameterType::PARAMETER_STRING)
specific_group_params[name] = parameter.as_string();
else if (parameter.get_type() == rclcpp::ParameterType::PARAMETER_DOUBLE)
specific_group_params[name] = moveit::core::toString(parameter.as_double());
else if (parameter.get_type() == rclcpp::ParameterType::PARAMETER_INTEGER)
specific_group_params[name] = std::to_string(parameter.as_int());
else if (parameter.get_type() == rclcpp::ParameterType::PARAMETER_BOOL)
specific_group_params[name] = std::to_string(parameter.as_bool());
}
}

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2 changes: 1 addition & 1 deletion moveit_ros/moveit_servo/launch/pose_tracking_example.launch.py
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Expand Up @@ -69,7 +69,7 @@ def generate_launch_description():
ros2_controllers_path = os.path.join(
get_package_share_directory("moveit_resources_panda_moveit_config"),
"config",
"panda_ros2_controllers.yaml",
"ros2_controllers.yaml",
)
ros2_control_node = Node(
package="controller_manager",
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2 changes: 1 addition & 1 deletion moveit_ros/moveit_servo/launch/servo_example.launch.py
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Expand Up @@ -70,7 +70,7 @@ def generate_launch_description():
ros2_controllers_path = os.path.join(
get_package_share_directory("moveit_resources_panda_moveit_config"),
"config",
"panda_ros2_controllers.yaml",
"ros2_controllers.yaml",
)
ros2_control_node = Node(
package="controller_manager",
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2 changes: 1 addition & 1 deletion moveit_ros/moveit_servo/test/launch/servo_launch_test_common.py
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Expand Up @@ -47,7 +47,7 @@ def generate_servo_test_description(
ros2_controllers_path = os.path.join(
get_package_share_directory("moveit_resources_panda_moveit_config"),
"config",
"panda_ros2_controllers.yaml",
"ros2_controllers.yaml",
)
ros2_control_node = Node(
package="controller_manager",
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2 changes: 1 addition & 1 deletion moveit_ros/moveit_servo/test/launch/test_servo_pose_tracking.test.py
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Expand Up @@ -34,7 +34,7 @@ def generate_servo_test_description(*args, gtest_name: SomeSubstitutionsType):
ros2_controllers_path = os.path.join(
get_package_share_directory("moveit_resources_panda_moveit_config"),
"config",
"panda_ros2_controllers.yaml",
"ros2_controllers.yaml",
)
ros2_control_node = Node(
package="controller_manager",
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10 changes: 5 additions & 5 deletions moveit_ros/planning/rdf_loader/test/test_rdf_integration.cpp
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Expand Up @@ -74,11 +74,9 @@ TEST(RDFIntegration, executor)
rclcpp::Node::SharedPtr node = std::make_shared<rclcpp::Node>("executor");

// Create a thread to spin an Executor.
std::thread([node]() {
rclcpp::executors::SingleThreadedExecutor executor;
executor.add_node(node);
executor.spin();
}).detach();
rclcpp::executors::SingleThreadedExecutor executor;
executor.add_node(node);
std::thread spinning_thread([&executor] { executor.spin(); });

// WHEN the RDFLoader is created
rdf_loader::RDFLoader loader(node, "topic_description");
Expand All @@ -88,6 +86,8 @@ TEST(RDFIntegration, executor)
EXPECT_EQ("gonzo", loader.getURDF()->name_);
ASSERT_NE(nullptr, loader.getSRDF());
EXPECT_EQ("gonzo", loader.getSRDF()->getName());
executor.cancel();
spinning_thread.join();
}

TEST(RDFIntegration, xacro_test)
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4 changes: 2 additions & 2 deletions moveit_ros/planning_interface/test/launch/move_group_launch_test_common.py
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Original file line number Diff line number Diff line change
Expand Up @@ -14,7 +14,7 @@ def generate_move_group_test_description(*args, gtest_name: SomeSubstitutionsTyp
moveit_config = (
MoveItConfigsBuilder("moveit_resources_panda")
.robot_description(file_path="config/panda.urdf.xacro")
.trajectory_execution(file_path="config/panda_gripper_controllers.yaml")
.trajectory_execution(file_path="config/gripper_moveit_controllers.yaml")
.to_moveit_configs()
)

Expand Down Expand Up @@ -55,7 +55,7 @@ def generate_move_group_test_description(*args, gtest_name: SomeSubstitutionsTyp
ros2_controllers_path = os.path.join(
get_package_share_directory("moveit_resources_panda_moveit_config"),
"config",
"panda_ros2_controllers.yaml",
"ros2_controllers.yaml",
)
ros2_control_node = Node(
package="controller_manager",
Expand Down