planning_pipeline_tests.cpp

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/* Author: Sebastian Jahr */

#include <gtest/gtest.h>

#include <moveit/planning_pipeline/planning_pipeline.hpp>
#include <moveit/utils/robot_model_test_utils.hpp>

namespace
{
const std::vector<std::string> REQUEST_ADAPTERS{ "planning_pipeline_test/AlwaysSuccessRequestAdapter",
                                                 "planning_pipeline_test/AlwaysSuccessRequestAdapter" };
const std::vector<std::string> RESPONSE_ADAPTERS{ "planning_pipeline_test/AlwaysSuccessResponseAdapter",
                                                  "planning_pipeline_test/AlwaysSuccessResponseAdapter" };
const std::vector<std::string> PLANNER_PLUGINS{ "planning_pipeline_test/DummyPlannerManager",
                                                "planning_pipeline_test/DummyPlannerManager" };
}  // namespace
class TestPlanningPipeline : public testing::Test
{
protected:
  void SetUp() override
  {
    robot_model_ = moveit::core::RobotModelBuilder("empty_robot", "base_link").build();
    node_ = rclcpp::Node::make_shared("planning_pipeline_test");
  };
  void TearDown() override
  {
  }

  std::shared_ptr<rclcpp::Node> node_;
  std::shared_ptr<const moveit::core::RobotModel> robot_model_;
  planning_pipeline::PlanningPipelinePtr pipeline_ptr_{ nullptr };
};

TEST_F(TestPlanningPipeline, HappyPath)
{
  // GIVEN a valid configuration
  // WHEN the planning pipeline is configured
  // THEN it is successful
  EXPECT_NO_THROW(pipeline_ptr_ = std::make_shared<planning_pipeline::PlanningPipeline>(
                      robot_model_, node_, "", PLANNER_PLUGINS, REQUEST_ADAPTERS, RESPONSE_ADAPTERS));
  // THEN a planning pipeline exists
  EXPECT_NE(pipeline_ptr_, nullptr);
  // THEN the pipeline is inactive
  EXPECT_FALSE(pipeline_ptr_->isActive());
  // THEN the pipeline contains a valid robot model
  EXPECT_NE(pipeline_ptr_->getRobotModel(), nullptr);
  // THEN the loaded request adapter names equal the adapter names input vector
  const auto loaded_req_adapters = pipeline_ptr_->getRequestAdapterPluginNames();
  EXPECT_TRUE(std::equal(loaded_req_adapters.begin(), loaded_req_adapters.end(), REQUEST_ADAPTERS.begin()));
  // THEN the loaded request adapter names equal the adapter names input vector
  const auto loaded_res_adapters = pipeline_ptr_->getResponseAdapterPluginNames();
  EXPECT_TRUE(std::equal(loaded_res_adapters.begin(), loaded_res_adapters.end(), RESPONSE_ADAPTERS.begin()));
  // THEN the loaded planner plugin name equals the planner name input argument
  const auto loaded_planners = pipeline_ptr_->getPlannerPluginNames();
  EXPECT_TRUE(std::equal(loaded_planners.begin(), loaded_planners.end(), PLANNER_PLUGINS.begin()));

  // WHEN generatePlan is called
  // THEN A successful response is created
  planning_interface::MotionPlanResponse motion_plan_response;
  planning_interface::MotionPlanRequest motion_plan_request;
  const auto planning_scene_ptr = std::make_shared<planning_scene::PlanningScene>(robot_model_);
  EXPECT_TRUE(pipeline_ptr_->generatePlan(planning_scene_ptr, motion_plan_request, motion_plan_response));
  EXPECT_TRUE(motion_plan_response.error_code);
}

TEST_F(TestPlanningPipeline, NoPlannerPluginConfigured)
{
  // GIVEN a configuration without planner plugin
  // WHEN the pipeline is configured
  // THEN an exception is thrown
  EXPECT_THROW(pipeline_ptr_ = std::make_shared<planning_pipeline::PlanningPipeline>(
                   robot_model_, node_, "", std::vector<std::string>(), REQUEST_ADAPTERS, RESPONSE_ADAPTERS),
               std::runtime_error);

  // GIVEN a configuration with planner plugin called UNKNOWN
  // WHEN the pipeline is configured
  // THEN an exception is thrown
  EXPECT_THROW(pipeline_ptr_ = std::make_shared<planning_pipeline::PlanningPipeline>(
                   robot_model_, node_, "", std::vector<std::string>({ "UNKNOWN" }), REQUEST_ADAPTERS,
                   RESPONSE_ADAPTERS),
               std::runtime_error);
}

int main(int argc, char** argv)
{
  rclcpp::init(argc, argv);
  testing::InitGoogleTest(&argc, argv);
  return RUN_ALL_TESTS();
}