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B#171 handfinder ns #172

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Apr 27, 2021
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Merged

B#171 handfinder ns #172

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87034f4
Fixing sr_utilities tests to handle namespaced tests
guihomework Apr 26, 2021
f2a34e1
Added namespaced test to sr_utilities
guihomework Apr 26, 2021
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60 changes: 30 additions & 30 deletions sr_utilities/test/test_hand_finder.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -54,9 +54,9 @@ void ASSERT_MAP_HAS_VALUE(const map<string, string> &map, const string &value)

TEST(SrHandFinder, hand_absent_test)
{
if (ros::param::has("hand"))
if (ros::param::has("/hand"))
{
ros::param::del("hand");
ros::param::del("/hand");
}

if (ros::param::has("robot_description"))
Expand All @@ -77,18 +77,18 @@ TEST(SrHandFinder, hand_absent_test)

TEST(SrHandFinder, one_hand_no_robot_description_finder_test)
{
if (ros::param::has("hand"))
if (ros::param::has("/hand"))
{
ros::param::del("hand");
ros::param::del("/hand");
}

if (ros::param::has("robot_description"))
{
ros::param::del("robot_description");
}

ros::param::set("hand/mapping/1", "right");
ros::param::set("hand/joint_prefix/1", "rh_");
ros::param::set("/hand/mapping/1", "right");
ros::param::set("/hand/joint_prefix/1", "rh_");

string ethercat_path = ros::package::getPath("sr_ethercat_hand_config");
const string joint_names[] =
Expand Down Expand Up @@ -166,18 +166,18 @@ TEST(SrHandFinder, one_hand_no_robot_description_finder_test)

TEST(SrHandFinder, one_hand_no_mapping_no_robot_description_finder_test)
{
if (ros::param::has("hand"))
if (ros::param::has("/hand"))
{
ros::param::del("hand");
ros::param::del("/hand");
}

if (ros::param::has("robot_description"))
{
ros::param::del("robot_description");
}

ros::param::set("hand/mapping/1", "");
ros::param::set("hand/joint_prefix/1", "rh_");
ros::param::set("/hand/mapping/1", "");
ros::param::set("/hand/joint_prefix/1", "rh_");

string ethercat_path = ros::package::getPath("sr_ethercat_hand_config");
const string joint_names[] =
Expand Down Expand Up @@ -254,18 +254,18 @@ TEST(SrHandFinder, one_hand_no_mapping_no_robot_description_finder_test)

TEST(SrHandFinder, one_hand_no_prefix_no_robot_description_finder_test)
{
if (ros::param::has("hand"))
if (ros::param::has("/hand"))
{
ros::param::del("hand");
ros::param::del("/hand");
}

if (ros::param::has("robot_description"))
{
ros::param::del("robot_description");
}

ros::param::set("hand/mapping/1", "rh");
ros::param::set("hand/joint_prefix/1", "");
ros::param::set("/hand/mapping/1", "rh");
ros::param::set("/hand/joint_prefix/1", "");

string ethercat_path = ros::package::getPath("sr_ethercat_hand_config");
const string joint_names[] =
Expand Down Expand Up @@ -342,18 +342,18 @@ TEST(SrHandFinder, one_hand_no_prefix_no_robot_description_finder_test)

TEST(SrHandFinder, one_hand_no_mapping_no_prefix_no_robot_description_finder_test)
{
if (ros::param::has("hand"))
if (ros::param::has("/hand"))
{
ros::param::del("hand");
ros::param::del("/hand");
}

if (ros::param::has("robot_description"))
{
ros::param::del("robot_description");
}

ros::param::set("hand/mapping/1", "");
ros::param::set("hand/joint_prefix/1", "");
ros::param::set("/hand/mapping/1", "");
ros::param::set("/hand/joint_prefix/1", "");

string ethercat_path = ros::package::getPath("sr_ethercat_hand_config");
const string joint_names[] =
Expand Down Expand Up @@ -430,9 +430,9 @@ TEST(SrHandFinder, one_hand_no_mapping_no_prefix_no_robot_description_finder_tes

TEST(SrHandFinder, one_hand_robot_description_exists_finger_test)
{
if (ros::param::has("hand"))
if (ros::param::has("/hand"))
{
ros::param::del("hand");
ros::param::del("/hand");
}

if (ros::param::has("robot_description"))
Expand All @@ -441,11 +441,11 @@ TEST(SrHandFinder, one_hand_robot_description_exists_finger_test)
}

string right_hand_description;
ros::param::get("right_hand_description", right_hand_description);
ros::param::get("/right_hand_description", right_hand_description);
ros::param::set("robot_description", right_hand_description);

ros::param::set("hand/mapping/1", "right");
ros::param::set("hand/joint_prefix/1", "rh_");
ros::param::set("/hand/mapping/1", "right");
ros::param::set("/hand/joint_prefix/1", "rh_");
string ethercat_path = ros::package::getPath("sr_ethercat_hand_config");
const string joint_names[] =
{
Expand Down Expand Up @@ -519,23 +519,23 @@ TEST(SrHandFinder, one_hand_robot_description_exists_finger_test)

TEST(SrHandFinder, two_hand_robot_description_exists_finder_test)
{
if (ros::param::has("hand"))
if (ros::param::has("/hand"))
{
ros::param::del("hand");
ros::param::del("/hand");
}

if (ros::param::has("robot_description"))
{
ros::param::del("robot_description");
}

ros::param::set("hand/mapping/1", "right");
ros::param::set("hand/joint_prefix/1", "rh_");
ros::param::set("hand/mapping/2", "left");
ros::param::set("hand/joint_prefix/2", "lh_");
ros::param::set("/hand/mapping/1", "right");
ros::param::set("/hand/joint_prefix/1", "rh_");
ros::param::set("/hand/mapping/2", "left");
ros::param::set("/hand/joint_prefix/2", "lh_");

string two_hands_description;
ros::param::get("two_hands_description", two_hands_description);
ros::param::get("/two_hands_description", two_hands_description);
ros::param::set("robot_description", two_hands_description);

const string joint_names[] =
Expand Down
108 changes: 54 additions & 54 deletions sr_utilities/test/test_hand_finder.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -38,8 +38,8 @@ class TestHandFinder(unittest.TestCase):
ethercat_path = rospack.get_path('sr_ethercat_hand_config')

def test_no_hand_no_robot_description_finder(self):
if rospy.has_param("hand"):
rospy.delete_param("hand")
if rospy.has_param("/hand"):
rospy.delete_param("/hand")

if rospy.has_param("robot_description"):
rospy.delete_param("robot_description")
Expand All @@ -57,14 +57,14 @@ def test_no_hand_no_robot_description_finder(self):
"correct tuning without a hands")

def test_one_hand_no_robot_description_finder(self):
if rospy.has_param("hand"):
rospy.delete_param("hand")
if rospy.has_param("/hand"):
rospy.delete_param("/hand")

if rospy.has_param("robot_description"):
rospy.delete_param("robot_description")

rospy.set_param("hand/joint_prefix/1", "rh_")
rospy.set_param("hand/mapping/1", "right")
rospy.set_param("/hand/joint_prefix/1", "rh_")
rospy.set_param("/hand/mapping/1", "right")

hand_finder = HandFinder(1.0)
# hand params
Expand Down Expand Up @@ -102,14 +102,14 @@ def test_one_hand_no_robot_description_finder(self):
"incorrect controller config file")

def test_one_hand_no_mapping_no_robot_description_finder(self):
if rospy.has_param("hand"):
rospy.delete_param("hand")
if rospy.has_param("/hand"):
rospy.delete_param("/hand")

if rospy.has_param("robot_description"):
rospy.delete_param("robot_description")

rospy.set_param("hand/joint_prefix/1", "rh_")
rospy.set_param("hand/mapping/1", "")
rospy.set_param("/hand/joint_prefix/1", "rh_")
rospy.set_param("/hand/mapping/1", "")

hand_finder = HandFinder(1.0)
# hand params
Expand Down Expand Up @@ -148,14 +148,14 @@ def test_one_hand_no_mapping_no_robot_description_finder(self):
"incorrect controller config file")

def test_one_hand_no_prefix_no_robot_description_finder(self):
if rospy.has_param("hand"):
rospy.delete_param("hand")
if rospy.has_param("/hand"):
rospy.delete_param("/hand")

if rospy.has_param("robot_description"):
rospy.delete_param("robot_description")

rospy.set_param("hand/joint_prefix/1", "")
rospy.set_param("hand/mapping/1", "rh")
rospy.set_param("/hand/joint_prefix/1", "")
rospy.set_param("/hand/mapping/1", "rh")

hand_finder = HandFinder(1.0)
# hand params
Expand Down Expand Up @@ -193,14 +193,14 @@ def test_one_hand_no_prefix_no_robot_description_finder(self):
"incorrect controller config file")

def test_one_hand_no_prefix_no_mapping_no_robot_description_finder(self):
if rospy.has_param("hand"):
rospy.delete_param("hand")
if rospy.has_param("/hand"):
rospy.delete_param("/hand")

if rospy.has_param("robot_description"):
rospy.delete_param("robot_description")

rospy.set_param("hand/joint_prefix/1", "")
rospy.set_param("hand/mapping/1", "")
rospy.set_param("/hand/joint_prefix/1", "")
rospy.set_param("/hand/mapping/1", "")

hand_finder = HandFinder(1.0)
# hand params
Expand Down Expand Up @@ -238,16 +238,16 @@ def test_one_hand_no_prefix_no_mapping_no_robot_description_finder(self):
"incorrect controller config file")

def test_two_hand_no_robot_description_finder(self):
if rospy.has_param("hand"):
rospy.delete_param("hand")
if rospy.has_param("/hand"):
rospy.delete_param("/hand")

if rospy.has_param("robot_description"):
rospy.delete_param("robot_description")

rospy.set_param("hand/joint_prefix/1", "rh_")
rospy.set_param("hand/mapping/1", "right")
rospy.set_param("hand/joint_prefix/2", "lh_")
rospy.set_param("hand/mapping/2", "left")
rospy.set_param("/hand/joint_prefix/1", "rh_")
rospy.set_param("/hand/mapping/1", "right")
rospy.set_param("/hand/joint_prefix/2", "lh_")
rospy.set_param("/hand/mapping/2", "left")

hand_finder = HandFinder(1.0)

Expand Down Expand Up @@ -312,13 +312,13 @@ def test_two_hand_no_robot_description_finder(self):
"incorrect controller config file")

def test_no_hand_robot_description_exists_finder(self):
if rospy.has_param("hand"):
rospy.delete_param("hand")
if rospy.has_param("/hand"):
rospy.delete_param("/hand")

if rospy.has_param("robot_description"):
rospy.delete_param("robot_description")

rospy.set_param("robot_description", rospy.get_param("two_hands_description"))
rospy.set_param("robot_description", rospy.get_param("/two_hands_description"))

hand_finder = HandFinder(1.0)

Expand All @@ -333,15 +333,15 @@ def test_no_hand_robot_description_exists_finder(self):
"correct tuning without a hands")

def test_one_hand_robot_description_exists_finder(self):
if rospy.has_param("hand"):
rospy.delete_param("hand")
if rospy.has_param("/hand"):
rospy.delete_param("/hand")

if rospy.has_param("robot_description"):
rospy.delete_param("robot_description")

rospy.set_param("hand/joint_prefix/1", "rh_")
rospy.set_param("hand/mapping/1", "right")
rospy.set_param("robot_description", rospy.get_param("right_hand_description"))
rospy.set_param("/hand/joint_prefix/1", "rh_")
rospy.set_param("/hand/mapping/1", "right")
rospy.set_param("robot_description", rospy.get_param("/right_hand_description"))

hand_finder = HandFinder(1.0)
# hand params
Expand Down Expand Up @@ -381,15 +381,15 @@ def test_one_hand_robot_description_exists_finder(self):
"incorrect controller config file")

def test_one_hand_no_mapping_robot_description_exists_finder(self):
if rospy.has_param("hand"):
rospy.delete_param("hand")
if rospy.has_param("/hand"):
rospy.delete_param("/hand")

if rospy.has_param("robot_description"):
rospy.delete_param("robot_description")

rospy.set_param("hand/joint_prefix/1", "rh_")
rospy.set_param("hand/mapping/1", "")
rospy.set_param("robot_description", rospy.get_param("right_hand_description"))
rospy.set_param("/hand/joint_prefix/1", "rh_")
rospy.set_param("/hand/mapping/1", "")
rospy.set_param("robot_description", rospy.get_param("/right_hand_description"))

hand_finder = HandFinder(1.0)
# hand params
Expand Down Expand Up @@ -428,15 +428,15 @@ def test_one_hand_no_mapping_robot_description_exists_finder(self):
"incorrect controller config file")

def test_one_hand_no_prefix_robot_description_exists_finder(self):
if rospy.has_param("hand"):
rospy.delete_param("hand")
if rospy.has_param("/hand"):
rospy.delete_param("/hand")

if rospy.has_param("robot_description"):
rospy.delete_param("robot_description")

rospy.set_param("hand/joint_prefix/1", "")
rospy.set_param("hand/mapping/1", "rh")
rospy.set_param("robot_description", rospy.get_param("right_hand_description_no_prefix"))
rospy.set_param("/hand/joint_prefix/1", "")
rospy.set_param("/hand/mapping/1", "rh")
rospy.set_param("robot_description", rospy.get_param("/right_hand_description_no_prefix"))

hand_finder = HandFinder(1.0)
# hand params
Expand Down Expand Up @@ -475,15 +475,15 @@ def test_one_hand_no_prefix_robot_description_exists_finder(self):
"incorrect controller config file")

def test_one_hand_no_prefix_no_ns_robot_description_exists_finder(self):
if rospy.has_param("hand"):
rospy.delete_param("hand")
if rospy.has_param("/hand"):
rospy.delete_param("/hand")

if rospy.has_param("robot_description"):
rospy.delete_param("robot_description")

rospy.set_param("hand/joint_prefix/1", "")
rospy.set_param("hand/mapping/1", "")
rospy.set_param("robot_description", rospy.get_param("right_hand_description_no_prefix"))
rospy.set_param("/hand/joint_prefix/1", "")
rospy.set_param("/hand/mapping/1", "")
rospy.set_param("robot_description", rospy.get_param("/right_hand_description_no_prefix"))

hand_finder = HandFinder(1.0)
# hand params
Expand Down Expand Up @@ -522,17 +522,17 @@ def test_one_hand_no_prefix_no_ns_robot_description_exists_finder(self):
"incorrect controller config file")

def test_two_hand_robot_description_exists_finder(self):
if rospy.has_param("hand"):
rospy.delete_param("hand")
if rospy.has_param("/hand"):
rospy.delete_param("/hand")

if rospy.has_param("robot_description"):
rospy.delete_param("robot_description")

rospy.set_param("hand/joint_prefix/1", "rh_")
rospy.set_param("hand/mapping/1", "right")
rospy.set_param("hand/joint_prefix/2", "lh_")
rospy.set_param("hand/mapping/2", "left")
rospy.set_param("robot_description", rospy.get_param("two_hands_description"))
rospy.set_param("/hand/joint_prefix/1", "rh_")
rospy.set_param("/hand/mapping/1", "right")
rospy.set_param("/hand/joint_prefix/2", "lh_")
rospy.set_param("/hand/mapping/2", "left")
rospy.set_param("robot_description", rospy.get_param("/two_hands_description"))

hand_finder = HandFinder(1.0)
# hand params
Expand Down
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