Port launch_testing depended unittests

moveit · Nov 8, 2021 · c97c840 · c97c840
1 parent 2dcb18d
commit c97c840
Show file tree

Hide file tree

Showing 40 changed files with 1,552 additions and 1,001 deletions.
diff --git a/moveit_planners/pilz_industrial_motion_planner/package.xml b/moveit_planners/pilz_industrial_motion_planner/package.xml
@@ -53,6 +53,9 @@
   <test_depend>moveit_resources_prbt_moveit_config</test_depend>
   <test_depend>moveit_resources_prbt_support</test_depend>
   <test_depend>moveit_resources_prbt_pg70_support</test_depend>
+  <test_depend>moveit_configs_utils</test_depend>
+  <test_depend>parameter_builder</test_depend>
+  <test_depend>boost</test_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>

diff --git a/moveit_planners/pilz_industrial_motion_planner/src/pilz_industrial_motion_planner.cpp b/moveit_planners/pilz_industrial_motion_planner/src/pilz_industrial_motion_planner.cpp
@@ -52,7 +52,7 @@
 
 namespace pilz_industrial_motion_planner
 {
-static const std::string PARAM_NAMESPACE_LIMTS = "robot_description_planning";
+static const std::string PARAM_NAMESPACE_LIMITS = "robot_description_planning";
 static const rclcpp::Logger LOGGER = rclcpp::get_logger("moveit.pilz_industrial_motion_planner");
 
 bool CommandPlanner::initialize(const moveit::core::RobotModelConstPtr& model, const rclcpp::Node::SharedPtr& node,
@@ -67,11 +67,11 @@ bool CommandPlanner::initialize(const moveit::core::RobotModelConstPtr& model, c
 
   // Obtain the aggregated joint limits
   aggregated_limit_active_joints_ = pilz_industrial_motion_planner::JointLimitsAggregator::getAggregatedLimits(
-      node, PARAM_NAMESPACE_LIMTS, model->getActiveJointModels());
+      node, PARAM_NAMESPACE_LIMITS, model->getActiveJointModels());
 
   // Obtain cartesian limits
   cartesian_limit_ =
-      pilz_industrial_motion_planner::CartesianLimitsAggregator::getAggregatedLimits(node, PARAM_NAMESPACE_LIMTS);
+      pilz_industrial_motion_planner::CartesianLimitsAggregator::getAggregatedLimits(node, PARAM_NAMESPACE_LIMITS);
 
   // Load the planning context loader
   planner_context_loader.reset(new pluginlib::ClassLoader<PlanningContextLoader>(

diff --git a/moveit_planners/pilz_industrial_motion_planner/test/CMakeLists.txt b/moveit_planners/pilz_industrial_motion_planner/test/CMakeLists.txt
@@ -3,6 +3,7 @@ find_package(ament_cmake_gmock REQUIRED)
 find_package(ros_testing REQUIRED)
 find_package(moveit_resources_prbt_support REQUIRED)
 find_package(moveit_resources_prbt_moveit_config REQUIRED)
+find_package(Boost REQUIRED thread)
 
 find_package(${PROJECT_NAME}_testutils REQUIRED)
 
@@ -28,4 +29,6 @@ target_link_libraries(${PROJECT_NAME}_testhelpers ${PROJECT_NAME}_lib)
 add_subdirectory(unit_tests)
 
 # Integration tests
-add_subdirectory(integration_tests)
+add_subdirectory(integration_tests)
+# Install test data
+install(DIRECTORY test_data DESTINATION share/${PROJECT_NAME})
diff --git a/...ner/test/test_robots/concept_testdata.odp → ...anner/test/test_data/concept_testdata.odp b/...ner/test/test_robots/concept_testdata.odp → ...anner/test/test_data/concept_testdata.odp
diff --git a/...ner/test/test_robots/concept_testdata.png → ...anner/test/test_data/concept_testdata.png b/...ner/test/test_robots/concept_testdata.png → ...anner/test/test_data/concept_testdata.png
diff --git a/...ika_panda/test_data/testdata_sequence.xml → ...a/frankaemika_panda/testdata_sequence.xml b/...ika_panda/test_data/testdata_sequence.xml → ...a/frankaemika_panda/testdata_sequence.xml
diff --git a/...ts/prbt/test_data/testdata_deprecated.xml → ...st/test_data/prbt/testdata_deprecated.xml b/...ts/prbt/test_data/testdata_deprecated.xml → ...st/test_data/prbt/testdata_deprecated.xml
diff --git a/...bots/prbt/test_data/testdata_sequence.xml → ...test/test_data/prbt/testdata_sequence.xml b/...bots/prbt/test_data/testdata_sequence.xml → ...test/test_data/prbt/testdata_sequence.xml
diff --git a/.../prbt/test_data/testdata_with_gripper.xml → .../test_data/prbt/testdata_with_gripper.xml b/.../prbt/test_data/testdata_with_gripper.xml → .../test_data/prbt/testdata_with_gripper.xml
diff --git a/...on_planner/test/test_robots/testpoints.py → ...tion_planner/test/test_data/testpoints.py b/...on_planner/test/test_robots/testpoints.py → ...tion_planner/test/test_data/testpoints.py
diff --git a/...motion_planner/test/test_robots/frankaemika_panda/launch/moveit_planning_execution.launch b/...motion_planner/test/test_robots/frankaemika_panda/launch/moveit_planning_execution.launch
diff --git a/..._planners/pilz_industrial_motion_planner/test/test_robots/prbt/launch/test_context.launch b/..._planners/pilz_industrial_motion_planner/test/test_robots/prbt/launch/test_context.launch
diff --git a/...anners/pilz_industrial_motion_planner/test/test_robots/prbt/launch/test_context.launch.py b/...anners/pilz_industrial_motion_planner/test/test_robots/prbt/launch/test_context.launch.py