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Fix the test criterion of test_arm #481

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Fix the test criterion of test_arm #481

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38 changes: 23 additions & 15 deletions gz_ros2_control_tests/src/test_position.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -27,8 +27,8 @@ bool common_goal_accepted = false;
rclcpp_action::ResultCode common_resultcode = rclcpp_action::ResultCode::UNKNOWN;
int common_action_result_code = control_msgs::action::FollowJointTrajectory_Result::SUCCESSFUL;

std::vector<double> derired_goals = {0, -1, 1, 0.0};
unsigned int goal_reached = 0;
std::vector<double> desired_goals = {0, -1, 1, 0.0};
unsigned int ct_goals_reached = 0;

void common_goal_response(
rclcpp_action::ClientGoalHandle
Expand Down Expand Up @@ -74,16 +74,23 @@ void common_feedback(
rclcpp_action::ClientGoalHandle<control_msgs::action::FollowJointTrajectory>::SharedPtr,
const std::shared_ptr<const control_msgs::action::FollowJointTrajectory::Feedback> feedback)
{
std::cout << "feedback->desired.positions :";
std::cout << "feedback->actual.positions :";
for (auto & x : feedback->actual.positions) {
std::cout << x << "\t";
}

std::cout << std::endl;
if (fabs(feedback->desired.positions[0] - derired_goals[goal_reached]) < 0.1) {
std::cout << "Goal " << derired_goals[goal_reached] << " reached" << '\n';
goal_reached++;
std::cout << "next goal " << goal_reached << '\n';
if (ct_goals_reached < desired_goals.size()) {
if (fabs(feedback->desired.positions[0] - desired_goals.at(ct_goals_reached)) < 0.1) {
std::cout << "Goal # " << ct_goals_reached << ": " << desired_goals.at(ct_goals_reached) <<
" reached" << std::endl;
ct_goals_reached++;
if (ct_goals_reached < desired_goals.size()) {
std::cout << "next goal # " << ct_goals_reached << ": " <<
desired_goals.at(ct_goals_reached) <<
std::endl;
}
}
}
}

Expand Down Expand Up @@ -124,25 +131,24 @@ int main(int argc, char * argv[])
trajectory_msgs::msg::JointTrajectoryPoint point;
point.time_from_start = rclcpp::Duration::from_seconds(0.0); // start asap
point.positions.resize(joint_names.size());

point.positions[0] = 0.0;
point.positions[0] = desired_goals[0];

trajectory_msgs::msg::JointTrajectoryPoint point2;
point2.time_from_start = rclcpp::Duration::from_seconds(1.0);
point2.positions.resize(joint_names.size());
point2.positions[0] = -1.0;
point2.positions[0] = desired_goals[1];

trajectory_msgs::msg::JointTrajectoryPoint point3;
point3.time_from_start = rclcpp::Duration::from_seconds(2.0);
point3.positions.resize(joint_names.size());
point3.positions[0] = 1.0;
point3.positions[0] = desired_goals[2];

trajectory_msgs::msg::JointTrajectoryPoint point4;
point4.time_from_start = rclcpp::Duration::from_seconds(3.0);
point4.positions.resize(joint_names.size());
point4.positions[0] = 0.0;
point4.positions[0] = desired_goals[3];

// points.push_back(point);
points.push_back(point);
points.push_back(point2);
points.push_back(point3);
points.push_back(point4);
Expand All @@ -157,6 +163,7 @@ int main(int argc, char * argv[])
goal_msg.trajectory.joint_names = joint_names;
goal_msg.trajectory.points = points;

std::cout << "async_send_goal" << std::endl;
auto goal_handle_future = action_client->async_send_goal(goal_msg, opt);

if (rclcpp::spin_until_future_complete(node, goal_handle_future) !=
Expand Down Expand Up @@ -194,10 +201,11 @@ int main(int argc, char * argv[])
action_client.reset();
node.reset();

std::cout << "async_send_goal" << std::endl;
std::cout << "call shutdown" << std::endl;
rclcpp::shutdown();

if ((derired_goals.size() + 1) != goal_reached) {
if (desired_goals.size() != ct_goals_reached) {
std::cout << "Not all the goals were reached" << std::endl;
return -1;
}

Expand Down
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