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Repair tests after code changes.
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@destogl
destogl committed Jun 18, 2022
1 parent 2aa712c commit 3f14296
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Showing 2 changed files with 72 additions and 21 deletions.
14 changes: 11 additions & 3 deletions joint_limits/test/joint_limits_rosparam.yaml
View file
Original file line number Diff line number Diff line change
@@ -1,6 +1,7 @@
JointLimitsRosparamTestNode:
ros__parameters:
joint_limits:
# Get full specification from parameter server
foo_joint:
has_position_limits: true
min_position: 0.0
Expand All @@ -13,20 +14,22 @@ JointLimitsRosparamTestNode:
max_jerk: 100.0
has_effort_limits: true
max_effort: 20.0
angle_wraparound: true # should be ignored, has position limits
angle_wraparound: true # should be ignored, has position limits
has_soft_limits: true
k_position: 10.0
k_velocity: 20.0
soft_lower_limit: 0.1
soft_upper_limit: 0.9

# Specifying flags but not values should set nothing
yinfoo_joint:
has_position_limits: true
has_velocity_limits: true
has_acceleration_limits: true
has_jerk_limits: true
has_effort_limits: true

# Specifying values but not flags should set nothing
yangfoo_joint:
min_position: 0.0
max_position: 1.0
Expand All @@ -35,32 +38,37 @@ JointLimitsRosparamTestNode:
max_jerk: 100.0
max_effort: 20.0

# Disable already set values
antifoo_joint:
has_position_limits: false
has_velocity_limits: false
has_acceleration_limits: false
has_jerk_limits: false
has_effort_limits: false
angle_wraparound: true # should be accepted, has no position limits
angle_wraparound: true # should be accepted, has no position limits

# Override only one field, leave all others unchanged
bar_joint:
has_velocity_limits: true
max_velocity: 2.0

# Incomplete position limits specification does not get loaded
baz_joint:
has_position_limits: true
# Missing min_position
max_position: 1.0

# Skip parsing soft limits if has_soft_limits is false
foobar_joint:
has_soft_limits: false
k_velocity: 20.0
k_position: 10.0
soft_lower_limit: 0.1
soft_upper_limit: 0.9

# Incomplete soft limits specification does not get loaded
barbaz_joint:
has_soft_limits: false
has_soft_limits: true
k_position: 10.0
soft_lower_limit: 0.1
soft_upper_limit: 0.9
79 changes: 61 additions & 18 deletions joint_limits/test/joint_limits_rosparam_test.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -44,14 +44,38 @@ TEST_F(JointLimitsRosParamTest, parse_joint_limits)
// Invalid specification
{
joint_limits::JointLimits limits;

// test default values
EXPECT_FALSE(limits.has_position_limits);
EXPECT_TRUE(std::isnan(limits.min_position));
EXPECT_TRUE(std::isnan(limits.max_position));
EXPECT_FALSE(limits.has_velocity_limits);
EXPECT_TRUE(std::isnan(limits.max_velocity));
EXPECT_FALSE(limits.has_acceleration_limits);
EXPECT_TRUE(std::isnan(limits.max_acceleration));
EXPECT_FALSE(limits.has_jerk_limits);
EXPECT_TRUE(std::isnan(limits.max_jerk));
EXPECT_FALSE(limits.has_effort_limits);
EXPECT_TRUE(std::isnan(limits.max_effort));
EXPECT_FALSE(limits.angle_wraparound);

// try to read limits for not-existing joints
EXPECT_FALSE(get_joint_limits("bad_joint", node_, limits));
EXPECT_FALSE(get_joint_limits("unknown_joint", node_, limits));

// default values should not change
EXPECT_FALSE(limits.has_position_limits);
EXPECT_TRUE(std::isnan(limits.min_position));
EXPECT_TRUE(std::isnan(limits.max_position));
EXPECT_FALSE(limits.has_velocity_limits);
EXPECT_TRUE(std::isnan(limits.max_velocity));
EXPECT_FALSE(limits.has_acceleration_limits);
EXPECT_TRUE(std::isnan(limits.max_acceleration));
EXPECT_FALSE(limits.has_jerk_limits);
EXPECT_TRUE(std::isnan(limits.max_jerk));
EXPECT_FALSE(limits.has_effort_limits);
EXPECT_TRUE(std::isnan(limits.max_effort));
EXPECT_FALSE(limits.angle_wraparound);
}

// Get full specification from parameter server
Expand All @@ -75,6 +99,7 @@ TEST_F(JointLimitsRosParamTest, parse_joint_limits)
EXPECT_TRUE(limits.has_effort_limits);
EXPECT_EQ(20.0, limits.max_effort);

// parameters is 'true', but because there are position limits it is ignored
EXPECT_FALSE(limits.angle_wraparound);
}

Expand Down Expand Up @@ -127,31 +152,31 @@ TEST_F(JointLimitsRosParamTest, parse_joint_limits)
EXPECT_TRUE(get_joint_limits("baz_joint", node_, limits));

EXPECT_FALSE(limits.has_position_limits);
EXPECT_TRUE(std::isnan(limits.min_position));
EXPECT_TRUE(std::isnan(limits.max_position));
}

// Override only one field, leave all others unchanged
{
joint_limits::JointLimits limits, limits_ref;
joint_limits::JointLimits limits;
EXPECT_TRUE(get_joint_limits("bar_joint", node_, limits));

EXPECT_EQ(limits_ref.has_position_limits, limits.has_position_limits);
EXPECT_EQ(limits_ref.min_position, limits.min_position);
EXPECT_EQ(limits_ref.max_position, limits.max_position);
EXPECT_FALSE(limits.has_position_limits);
EXPECT_TRUE(std::isnan(limits.min_position));
EXPECT_TRUE(std::isnan(limits.max_position));

// Max velocity is overridden
EXPECT_NE(limits_ref.has_velocity_limits, limits.has_velocity_limits);
EXPECT_NE(limits_ref.max_velocity, limits.max_velocity);
EXPECT_TRUE(limits.has_velocity_limits);
EXPECT_EQ(2.0, limits.max_velocity);

EXPECT_EQ(limits_ref.has_acceleration_limits, limits.has_acceleration_limits);
EXPECT_EQ(limits_ref.max_acceleration, limits.max_acceleration);
EXPECT_FALSE(limits.has_acceleration_limits);
EXPECT_TRUE(std::isnan(limits.max_acceleration));

EXPECT_EQ(limits_ref.has_jerk_limits, limits.has_jerk_limits);
EXPECT_EQ(limits_ref.has_jerk_limits, limits.max_jerk);
EXPECT_FALSE(limits.has_jerk_limits);
EXPECT_TRUE(std::isnan(limits.max_jerk));

EXPECT_EQ(limits_ref.has_effort_limits, limits.has_effort_limits);
EXPECT_EQ(limits_ref.max_effort, limits.max_effort);
EXPECT_FALSE(limits.has_effort_limits);
EXPECT_TRUE(std::isnan(limits.max_effort));
}
}

Expand All @@ -160,8 +185,22 @@ TEST_F(JointLimitsRosParamTest, parse_soft_joint_limits)
// Invalid specification
{
joint_limits::SoftJointLimits soft_limits;

// test default values
EXPECT_TRUE(std::isnan(soft_limits.min_position));
EXPECT_TRUE(std::isnan(soft_limits.max_position));
EXPECT_TRUE(std::isnan(soft_limits.k_position));
EXPECT_TRUE(std::isnan(soft_limits.k_velocity));

// try to read limits for not-existing joints
EXPECT_FALSE(get_joint_limits("bad_joint", node_, soft_limits));
EXPECT_FALSE(get_joint_limits("unknown_joint", node_, soft_limits));

// default values should not change
EXPECT_TRUE(std::isnan(soft_limits.min_position));
EXPECT_TRUE(std::isnan(soft_limits.max_position));
EXPECT_TRUE(std::isnan(soft_limits.k_position));
EXPECT_TRUE(std::isnan(soft_limits.k_velocity));
}

// Get full specification from parameter server
Expand All @@ -177,18 +216,22 @@ TEST_F(JointLimitsRosParamTest, parse_soft_joint_limits)

// Skip parsing soft limits if has_soft_limits is false
{
joint_limits::SoftJointLimits soft_limits, soft_limits_ref;
joint_limits::SoftJointLimits soft_limits;
EXPECT_FALSE(get_joint_limits("foobar_joint", node_, soft_limits));
EXPECT_TRUE(std::isnan(soft_limits.min_position));
EXPECT_TRUE(std::isnan(soft_limits.max_position));
EXPECT_TRUE(std::isnan(soft_limits.k_position));
EXPECT_TRUE(std::isnan(soft_limits.k_velocity));
}

// Incomplete soft limits specification does not get loaded
{
joint_limits::SoftJointLimits soft_limits, soft_limits_ref;
joint_limits::SoftJointLimits soft_limits;
EXPECT_FALSE(get_joint_limits("barbaz_joint", node_, soft_limits));
EXPECT_EQ(soft_limits.k_position, soft_limits_ref.k_position);
EXPECT_EQ(soft_limits.k_velocity, soft_limits_ref.k_velocity);
EXPECT_EQ(soft_limits.min_position, soft_limits_ref.min_position);
EXPECT_EQ(soft_limits.max_position, soft_limits_ref.max_position);
EXPECT_TRUE(std::isnan(soft_limits.min_position));
EXPECT_TRUE(std::isnan(soft_limits.max_position));
EXPECT_TRUE(std::isnan(soft_limits.k_position));
EXPECT_TRUE(std::isnan(soft_limits.k_velocity));
}
}

Expand Down

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