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Fix most servo tests, cleanup #511

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Fix most servo tests, cleanup #511

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0f48003
Fix most servo tests, cleanup
Jun 19, 2021
c76ee84
Increase timeouts
Jun 19, 2021
9158460
Update moveit2.repos to use master branches of launch
Jun 20, 2021
eb1365d
Fix typo
Jun 20, 2021
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12 changes: 12 additions & 0 deletions moveit2.repos
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Original file line number Diff line number Diff line change
Expand Up @@ -31,3 +31,15 @@ repositories:
type: git
url: https://github.com/ros-planning/warehouse_ros_mongo
version: ros2
osrf_pycommon:
type: git
url: https://github.com/osrf/osrf_pycommon
version: master
launch:
type: git
url: https://github.com/ros2/launch
version: master
launch_ros:
type: git
url: https://github.com/ros2/launch_ros
version: master
105 changes: 46 additions & 59 deletions moveit_ros/moveit_servo/CMakeLists.txt
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Expand Up @@ -189,71 +189,58 @@ if(BUILD_TESTING)
ament_add_gtest(test_low_pass_filter test/test_low_pass_filter.cpp)
target_link_libraries(test_low_pass_filter ${SERVO_LIB_NAME})

# TODO(andyz): re-enable integration tests when they are less flakey.
# The issue is that the test completes successfully but a results file is not generated.

# # Unit test for ServoCalcs
# TODO(vatanaksoytezer): re-enable servo calculation test once it is not flaky.
# Unit test for ServoCalcs
# ament_add_gtest_executable(
# unit_test_servo_calcs
# test/unit_test_servo_calcs.cpp
# )
# target_link_libraries(unit_test_servo_calcs ${SERVO_LIB_NAME})
# ament_target_dependencies(unit_test_servo_calcs ${THIS_PACKAGE_INCLUDE_DEPENDS} Boost)
# add_ros_test(test/launch/unit_test_servo_calcs.test.py ARGS "test_binary_dir:=${CMAKE_CURRENT_BINARY_DIR}")

# # Servo integration launch test
# ament_add_gtest_executable(test_servo_integration
# test/test_servo_interface.cpp
# test/servo_launch_test_common.hpp
# )
# target_link_libraries(test_servo_integration ${SERVO_PARAM_LIB_NAME})
# ament_target_dependencies(test_servo_integration ${THIS_PACKAGE_INCLUDE_DEPENDS})
# add_ros_test(test/launch/test_servo_integration.test.py ARGS "test_binary_dir:=${CMAKE_CURRENT_BINARY_DIR}")

# # Servo collision checking integration test
# ament_add_gtest_executable(test_servo_collision
# test/test_servo_collision.cpp
# test/servo_launch_test_common.hpp
# )
# target_link_libraries(test_servo_collision ${SERVO_PARAM_LIB_NAME})
# ament_target_dependencies(test_servo_collision ${THIS_PACKAGE_INCLUDE_DEPENDS})
# add_ros_test(test/launch/test_servo_collision.test.py ARGS "test_binary_dir:=${CMAKE_CURRENT_BINARY_DIR}")

# # Servo singularity checking integration test
# ament_add_gtest_executable(test_servo_singularity
# test/test_servo_singularity.cpp
# test/servo_launch_test_common.hpp
# )
# target_link_libraries(test_servo_singularity ${SERVO_PARAM_LIB_NAME})
# ament_target_dependencies(test_servo_singularity ${THIS_PACKAGE_INCLUDE_DEPENDS})
# add_ros_test(test/launch/test_servo_singularity.test.py ARGS "test_binary_dir:=${CMAKE_CURRENT_BINARY_DIR}")

# TODO(henningkayser): Port tests to ROS2
# servo_cpp_interface
# add_rostest_gtest(servo_cpp_interface_test
# test/servo_cpp_interface_test.test
# test/servo_cpp_interface_test.cpp
# )
# target_link_libraries(servo_cpp_interface_test
# ${SERVO_LIB_NAME}
# ${catkin_LIBRARIES}
# )

# # pose_tracking
# ament_add_gtest_executable(test_servo_pose_tracking
# test/pose_tracking_test.cpp
# )
# ament_target_dependencies(test_servo_pose_tracking ${THIS_PACKAGE_INCLUDE_DEPENDS})
# target_link_libraries(test_servo_pose_tracking ${POSE_TRACKING})
# add_ros_test(test/launch/test_servo_pose_tracking.test.py ARGS "test_binary_dir:=${CMAKE_CURRENT_BINARY_DIR}")

# # basic_servo_tests
# ament_add_gtest_executable(basic_servo_tests
# test/basic_servo_tests.cpp
# )
# ament_target_dependencies(basic_servo_tests ${THIS_PACKAGE_INCLUDE_DEPENDS})
# target_link_libraries(basic_servo_tests ${POSE_TRACKING})
# add_ros_test(test/launch/test_basic_servo.test.py ARGS "test_binary_dir:=${CMAKE_CURRENT_BINARY_DIR}")
# add_ros_test(test/launch/unit_test_servo_calcs.test.py TIMEOUT 300 ARGS "test_binary_dir:=${CMAKE_CURRENT_BINARY_DIR}")

# Servo integration launch test
ament_add_gtest_executable(test_servo_integration
test/test_servo_interface.cpp
test/servo_launch_test_common.hpp
)
target_link_libraries(test_servo_integration ${SERVO_PARAM_LIB_NAME})
ament_target_dependencies(test_servo_integration ${THIS_PACKAGE_INCLUDE_DEPENDS})
add_ros_test(test/launch/test_servo_integration.test.py TIMEOUT 300 ARGS "test_binary_dir:=${CMAKE_CURRENT_BINARY_DIR}")

# Servo collision checking integration test
ament_add_gtest_executable(test_servo_collision
test/test_servo_collision.cpp
test/servo_launch_test_common.hpp
)
target_link_libraries(test_servo_collision ${SERVO_PARAM_LIB_NAME})
ament_target_dependencies(test_servo_collision ${THIS_PACKAGE_INCLUDE_DEPENDS})
add_ros_test(test/launch/test_servo_collision.test.py TIMEOUT 300 ARGS "test_binary_dir:=${CMAKE_CURRENT_BINARY_DIR}")

# Servo singularity checking integration test
ament_add_gtest_executable(test_servo_singularity
test/test_servo_singularity.cpp
test/servo_launch_test_common.hpp
)
target_link_libraries(test_servo_singularity ${SERVO_PARAM_LIB_NAME})
ament_target_dependencies(test_servo_singularity ${THIS_PACKAGE_INCLUDE_DEPENDS})
add_ros_test(test/launch/test_servo_singularity.test.py TIMEOUT 300 ARGS "test_binary_dir:=${CMAKE_CURRENT_BINARY_DIR}")

# Servo pose tracking test
ament_add_gtest_executable(test_servo_pose_tracking
test/pose_tracking_test.cpp
)
ament_target_dependencies(test_servo_pose_tracking ${THIS_PACKAGE_INCLUDE_DEPENDS})
target_link_libraries(test_servo_pose_tracking ${POSE_TRACKING})
add_ros_test(test/launch/test_servo_pose_tracking.test.py TIMEOUT 300 ARGS "test_binary_dir:=${CMAKE_CURRENT_BINARY_DIR}")

# Basic servo functionality test
ament_add_gtest_executable(basic_servo_tests
test/basic_servo_tests.cpp
)
ament_target_dependencies(basic_servo_tests ${THIS_PACKAGE_INCLUDE_DEPENDS})
target_link_libraries(basic_servo_tests ${POSE_TRACKING})
add_ros_test(test/launch/test_basic_servo.test.py TIMEOUT 300 ARGS "test_binary_dir:=${CMAKE_CURRENT_BINARY_DIR}")

endif()

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1 change: 0 additions & 1 deletion moveit_ros/moveit_servo/test/launch/unit_test_servo_calcs.test.py
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Expand Up @@ -28,7 +28,6 @@ def generate_test_description():
),
parameters=[servo_params],
output="screen",
# prefix="kitty gdb -e run --args"
)

return (
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