move_group_api_test.cpp

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/* Author: Sebastian Jahr
   Description: Integration tests for the move_group interface
*/
 
#include <gtest/gtest.h>
#include <rclcpp/rclcpp.hpp>
 
#include "parameter_name_list.hpp"
 
class MoveGroupFixture : public testing::Test
{
protected:
  void SetUp() override
  {
    rclcpp::NodeOptions node_options;
    node_options.automatically_declare_parameters_from_overrides(true);
    test_node_ = std::make_shared<rclcpp::Node>("move_group_param_test_node", node_options);
  }
 
  void TearDown() override
  {
  }
 
  std::shared_ptr<rclcpp::Node> test_node_;
};
 
TEST_F(MoveGroupFixture, testParamAPI)
{
  // Create parameter client
  auto params_client = std::make_shared<rclcpp::SyncParametersClient>(test_node_, "move_group");
  bool reach_param_client = params_client->wait_for_service(std::chrono::seconds(5));
  // This pattern helps with debugging if service is not available.
  if (!reach_param_client)
  {
    RCLCPP_ERROR(test_node_->get_logger(), "Couldn't reach parameter server. Is the move_group up and running?");
  }
  ASSERT_TRUE(reach_param_client);
 
  // GIVEN a running move_group
  // WHEN a parameter name from parameter API checked
  // THEN that parameter exists
  for (const auto& param_name : move_group_test::PARAMETER_NAME_LIST)
  {
    bool param_exists = false;
    if (params_client->wait_for_service(std::chrono::milliseconds(1)))
    {
      param_exists = params_client->has_parameter(param_name);
      if (!param_exists)
      {
        RCLCPP_ERROR(test_node_->get_logger(), "Parameter %s doesn't exists", param_name.c_str());
      }
    }
    else
    {
      RCLCPP_ERROR(test_node_->get_logger(), "Cannot read parameter %s because service couldn't be reached",
                   param_name.c_str());
    }
    EXPECT_TRUE(param_exists);
  }
}
 
// TODO(sjahr): Add more API tests e.g. from move_group_interface_cpp_test.cpp
 
int main(int argc, char** argv)
{
  rclcpp::init(argc, argv);
  ::testing::InitGoogleTest(&argc, argv);
  int result = RUN_ALL_TESTS();
  rclcpp::shutdown();
  return result;
}