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Added test for joint based cartesian trajectory interface
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Added test of the robot moving slightly over time for both cartessian controllers.
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@urmahp @fmauch
urmahp authored and fmauch committed Jun 12, 2024
1 parent 6ae99cc commit 61bb094
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Showing 2 changed files with 95 additions and 6 deletions.
1 change: 1 addition & 0 deletions ur_robot_driver/test/driver.test
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Original file line number Diff line number Diff line change
Expand Up @@ -23,6 +23,7 @@
<remap from="forward_cartesian_trajectory" to="/forward_cartesian_traj_controller/follow_cartesian_trajectory" />
<remap from="forward_joint_trajectory" to="/forward_joint_traj_controller/follow_joint_trajectory" />
<remap from="follow_cartesian_trajectory" to="/pose_based_cartesian_traj_controller/follow_cartesian_trajectory" />
<remap from="follow_joint_based_cartesian_trajectory" to="/joint_based_cartesian_traj_controller/follow_cartesian_trajectory" />

<test test-name="integration test" pkg="ur_robot_driver" type="integration_test.py" name="integration_test" time-limit="300.0"/>

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100 changes: 94 additions & 6 deletions ur_robot_driver/test/integration_test.py
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Original file line number Diff line number Diff line change
Expand Up @@ -2,6 +2,7 @@
import sys
import time
import unittest
import re

import rospy
import actionlib
Expand All @@ -12,6 +13,7 @@
FollowJointTrajectoryResult,
JointTolerance)
from ur_dashboard_msgs.msg import SetModeAction, SetModeGoal, RobotMode
from ur_dashboard_msgs.srv import RawRequest
from std_srvs.srv import Trigger, TriggerRequest
import tf
from trajectory_msgs.msg import JointTrajectoryPoint
Expand Down Expand Up @@ -93,6 +95,13 @@ def init_robot(self):
"Could not reach cartesian controller action. Make sure that the driver is actually running."
)

self.joint_based_cartesian_trajectory_client = actionlib.SimpleActionClient(
'follow_joint_based_cartesian_trajectory', FollowCartesianTrajectoryAction)
if not self.cartesian_trajectory_client.wait_for_server(timeout):
self.fail(
"Could not reach cartesian controller action. Make sure that the driver is actually running."
" Msg: {}".format(err))

self.set_io_client = rospy.ServiceProxy('/ur_hardware_interface/set_io', SetIO)
try:
self.set_io_client.wait_for_service(timeout)
Expand Down Expand Up @@ -124,6 +133,19 @@ def init_robot(self):
self.tf_listener = tf.TransformListener()
self.twist_pub = rospy.Publisher("/twist_controller/command", geometry_msgs.msg.Twist, queue_size=1)

# Get polyscope major version
raw_request_srv = rospy.ServiceProxy('/ur_hardware_interface/dashboard/raw_request',
RawRequest)
try:
raw_request_srv.wait_for_service(timeout)
except rospy.exceptions.ROSException as err:
self.fail(
"Could not reach raw request service. Make sure that the driver is actually running."
" Msg: {}".format(err))
result = str(raw_request_srv("PolyscopeVersion"))
match = re.search(r"\d", str(result))
self.major_version = int(result[match.start()])

def set_robot_to_mode(self, target_mode):
goal = SetModeGoal()
goal.target_robot_mode.mode = RobotMode.RUNNING
Expand Down Expand Up @@ -367,6 +389,18 @@ def test_cartesian_trajectory_pose_interface(self):
FollowCartesianTrajectoryResult.SUCCESSFUL)
rospy.loginfo("Received result SUCCESSFUL")

# This will test that the controller is not moving the robot slightly, when no trajectory is running
(trans_before, rot_before) = self.tf_listener.lookupTransform('base', 'tool0_controller', rospy.Time(0))
rospy.sleep(5)
(trans_after, rot_after) = self.tf_listener.lookupTransform('base', 'tool0_controller', rospy.Time(0))

self.assertAlmostEqual(rot_before[0], rot_after[0], delta=3e-6)
self.assertAlmostEqual(rot_before[1], rot_after[1], delta=3e-6)
self.assertAlmostEqual(rot_before[2], rot_after[2], delta=3e-6)
self.assertAlmostEqual(trans_before[0], trans_after[0], delta=3e-6)
self.assertAlmostEqual(trans_before[1], trans_after[1], delta=3e-6)
self.assertAlmostEqual(trans_before[2], trans_after[2], delta=3e-6)

def test_twist_interface(self):
#### Power cycle the robot in order to make sure it is running correctly####
self.assertTrue(self.set_robot_to_mode(RobotMode.POWER_OFF))
Expand Down Expand Up @@ -408,13 +442,67 @@ def test_twist_interface(self):

(trans_end, rot_end) = self.tf_listener.lookupTransform('base', 'tool0_controller', rospy.Time(0))

self.assertAlmostEqual(rot_start[0], rot_end[0], delta=3e-6)
self.assertAlmostEqual(rot_start[1], rot_end[1], delta=1e-6)
self.assertAlmostEqual(rot_start[2], rot_end[2], delta=1e-6)
self.assertAlmostEqual(trans_start[1], trans_end[1], delta=1e-6)
self.assertAlmostEqual(trans_start[2], trans_end[2], delta=1e-6)
self.assertTrue(trans_end[0] > trans_start[0])
if self.major_version == 3:
self.assertAlmostEqual(rot_start[0], rot_end[0], delta=3e-6)
self.assertAlmostEqual(rot_start[1], rot_end[1], delta=3e-6)
self.assertAlmostEqual(rot_start[2], rot_end[2], delta=3e-6)
self.assertAlmostEqual(trans_start[1], trans_end[1], delta=3e-6)
self.assertAlmostEqual(trans_start[2], trans_end[2], delta=3e-6)
self.assertTrue(trans_end[0] > trans_start[0])
else:
self.assertAlmostEqual(rot_start[0], rot_end[0], delta=3e-6)
self.assertAlmostEqual(rot_start[1], rot_end[1], delta=1e-6)
self.assertAlmostEqual(rot_start[2], rot_end[2], delta=1e-6)
self.assertAlmostEqual(trans_start[1], trans_end[1], delta=1e-6)
self.assertAlmostEqual(trans_start[2], trans_end[2], delta=1e-6)
self.assertTrue(trans_end[0] > trans_start[0])


def test_joint_based_cartesian_trajectory_interface(self):
#### Power cycle the robot in order to make sure it is running correctly####
self.assertTrue(self.set_robot_to_mode(RobotMode.POWER_OFF))
rospy.sleep(0.5)
self.assertTrue(self.set_robot_to_mode(RobotMode.RUNNING))
rospy.sleep(0.5)

# Make sure the robot is at a valid start position for our cartesian motions
self.script_publisher.publish("movej([1, -1.7, -1.7, -1, -1.57, -2])")
# As we don't have any feedback from that interface, sleep for a while
rospy.sleep(5)


self.send_program_srv.call()
rospy.sleep(0.5) # TODO properly wait until the controller is running

self.switch_on_controller("joint_based_cartesian_traj_controller")

position_list = [geometry_msgs.msg.Vector3(0.4,0.4,0.4)]
position_list.append(geometry_msgs.msg.Vector3(0.5,0.5,0.5))
duration_list = [3.0, 6.0]
goal = FollowCartesianTrajectoryGoal()

for i, position in enumerate(position_list):
point = CartesianTrajectoryPoint()
point.pose = geometry_msgs.msg.Pose(position, geometry_msgs.msg.Quaternion(0,0,0,1))
point.time_from_start = rospy.Duration(duration_list[i])
goal.trajectory.points.append(point)
self.joint_based_cartesian_trajectory_client.send_goal(goal)
self.joint_based_cartesian_trajectory_client.wait_for_result()
self.assertEqual(self.joint_based_cartesian_trajectory_client.get_result().error_code,
FollowCartesianTrajectoryResult.SUCCESSFUL)
rospy.loginfo("Received result SUCCESSFUL")

# This will test that the controller is not moving the robot slightly, when no trajectory is running
(trans_before, rot_before) = self.tf_listener.lookupTransform('base', 'tool0_controller', rospy.Time(0))
rospy.sleep(5)
(trans_after, rot_after) = self.tf_listener.lookupTransform('base', 'tool0_controller', rospy.Time(0))

self.assertAlmostEqual(rot_before[0], rot_after[0], delta=3e-6)
self.assertAlmostEqual(rot_before[1], rot_after[1], delta=3e-6)
self.assertAlmostEqual(rot_before[2], rot_after[2], delta=3e-6)
self.assertAlmostEqual(trans_before[0], trans_after[0], delta=3e-6)
self.assertAlmostEqual(trans_before[1], trans_after[1], delta=3e-6)
self.assertAlmostEqual(trans_before[2], trans_after[2], delta=3e-6)

def switch_on_controller(self, controller_name):
"""Switches on the given controller stopping all other known controllers with best_effort
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