Add unit tests for motion plan cache #28
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Signed-off-by: methylDragon <[email protected]>
Signed-off-by: methylDragon <[email protected]>
Signed-off-by: methylDragon <[email protected]>
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koonpeng
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Nov 23, 2023
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Still looking at the test contents. |
Signed-off-by: methylDragon <[email protected]>
Signed-off-by: methylDragon <[email protected]>
koonpeng
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Nov 24, 2023
Signed-off-by: methylDragon <[email protected]>
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koonpeng
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Nov 27, 2023
* Add force_cache_mode_execute_read_only Signed-off-by: methylDragon <[email protected]> * Add force_cache_mode_execute_read_only input port Signed-off-by: methylDragon <[email protected]> --------- Signed-off-by: methylDragon <[email protected]>
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Nov 27, 2023
* Remove query appending macro Signed-off-by: methylDragon <[email protected]> * Default to warehouse_ros plugin if warehouse plugin isn't set Signed-off-by: methylDragon <[email protected]> * Return and use init result Signed-off-by: methylDragon <[email protected]> * Add todo for catching exceptions Signed-off-by: methylDragon <[email protected]> * Implement plan fetching with configurable key Signed-off-by: methylDragon <[email protected]> * Add comments for exact match tolerance Signed-off-by: methylDragon <[email protected]> * Slightly refactor put plan Signed-off-by: methylDragon <[email protected]> * Rename overwrite to delete_worse_plans Signed-off-by: methylDragon <[email protected]> * Split out motion plan cache into its own library Signed-off-by: methylDragon <[email protected]> * Sort constraints for reduced cardinality Signed-off-by: methylDragon <[email protected]> * Rename util function Signed-off-by: methylDragon <[email protected]> * Add todo for is_diff Signed-off-by: methylDragon <[email protected]> * Add unit tests for motion plan cache (#28) * Add count methods Signed-off-by: methylDragon <[email protected]> * Enable shared from this for cache class Signed-off-by: methylDragon <[email protected]> * Add unit test build rules Signed-off-by: methylDragon <[email protected]> * Add tests for motion plan cache (but not cartesian) Signed-off-by: methylDragon <[email protected]> * Fix bugs in cartesian caching Signed-off-by: methylDragon <[email protected]> * Add tests for cartesian plan cache Signed-off-by: methylDragon <[email protected]> * Exit if a test fails Signed-off-by: methylDragon <[email protected]> * Remove gtest import Signed-off-by: methylDragon <[email protected]> * Remove enable_shared_from_this Signed-off-by: methylDragon <[email protected]> * Only check for failure Signed-off-by: methylDragon <[email protected]> * Test half in-tolerance Signed-off-by: methylDragon <[email protected]> * Test different robot cache Signed-off-by: methylDragon <[email protected]> * Add force_cache_mode_execute_read_only (#29) * Add force_cache_mode_execute_read_only Signed-off-by: methylDragon <[email protected]> * Add force_cache_mode_execute_read_only input port Signed-off-by: methylDragon <[email protected]> --------- Signed-off-by: methylDragon <[email protected]> --------- Signed-off-by: methylDragon <[email protected]> --------- Signed-off-by: methylDragon <[email protected]>
Yadunund
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Dec 4, 2023
* Add cartesian plan caching interfaces Signed-off-by: methylDragon <[email protected]> * Add construct_get_cartesian_plan_request Signed-off-by: methylDragon <[email protected]> * Add goal query and metadata Signed-off-by: methylDragon <[email protected]> * Add start query and metadata Signed-off-by: methylDragon <[email protected]> * Implement top level cache ops Signed-off-by: methylDragon <[email protected]> * Use motion plan cache for cartesian plans Signed-off-by: methylDragon <[email protected]> * Allow mismatched plan frames since we coerce anyway Signed-off-by: methylDragon <[email protected]> * Fix move bug Signed-off-by: methylDragon <[email protected]> * Plan cache code review fixes (sans unit tests) (#26) * Remove query appending macro Signed-off-by: methylDragon <[email protected]> * Default to warehouse_ros plugin if warehouse plugin isn't set Signed-off-by: methylDragon <[email protected]> * Return and use init result Signed-off-by: methylDragon <[email protected]> * Add todo for catching exceptions Signed-off-by: methylDragon <[email protected]> * Implement plan fetching with configurable key Signed-off-by: methylDragon <[email protected]> * Add comments for exact match tolerance Signed-off-by: methylDragon <[email protected]> * Slightly refactor put plan Signed-off-by: methylDragon <[email protected]> * Rename overwrite to delete_worse_plans Signed-off-by: methylDragon <[email protected]> * Split out motion plan cache into its own library Signed-off-by: methylDragon <[email protected]> * Sort constraints for reduced cardinality Signed-off-by: methylDragon <[email protected]> * Rename util function Signed-off-by: methylDragon <[email protected]> * Add todo for is_diff Signed-off-by: methylDragon <[email protected]> * Add unit tests for motion plan cache (#28) * Add count methods Signed-off-by: methylDragon <[email protected]> * Enable shared from this for cache class Signed-off-by: methylDragon <[email protected]> * Add unit test build rules Signed-off-by: methylDragon <[email protected]> * Add tests for motion plan cache (but not cartesian) Signed-off-by: methylDragon <[email protected]> * Fix bugs in cartesian caching Signed-off-by: methylDragon <[email protected]> * Add tests for cartesian plan cache Signed-off-by: methylDragon <[email protected]> * Exit if a test fails Signed-off-by: methylDragon <[email protected]> * Remove gtest import Signed-off-by: methylDragon <[email protected]> * Remove enable_shared_from_this Signed-off-by: methylDragon <[email protected]> * Only check for failure Signed-off-by: methylDragon <[email protected]> * Test half in-tolerance Signed-off-by: methylDragon <[email protected]> * Test different robot cache Signed-off-by: methylDragon <[email protected]> * Add force_cache_mode_execute_read_only (#29) * Add force_cache_mode_execute_read_only Signed-off-by: methylDragon <[email protected]> * Add force_cache_mode_execute_read_only input port Signed-off-by: methylDragon <[email protected]> --------- Signed-off-by: methylDragon <[email protected]> --------- Signed-off-by: methylDragon <[email protected]> --------- Signed-off-by: methylDragon <[email protected]> --------- Signed-off-by: methylDragon <[email protected]>
Yadunund
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that referenced
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Jan 22, 2024
* Add motion plan cache Signed-off-by: methylDragon <[email protected]> * Switch to snake case for function names Signed-off-by: methylDragon <[email protected]> * Print cache fetch time and key plans on planned execution time Signed-off-by: methylDragon <[email protected]> * Add overwrite_worse_plans param Signed-off-by: methylDragon <[email protected]> * Fix plan fetching printout and don't recache fetched plans Signed-off-by: methylDragon <[email protected]> * Update only use cached plans parameter name Signed-off-by: methylDragon <[email protected]> * Add copyright headers and motion_planner namespace Signed-off-by: methylDragon <[email protected]> * Make motion_plan_cache a unique_ptr instead of shared_ptr Signed-off-by: methylDragon <[email protected]> * Set numerical precision Signed-off-by: methylDragon <[email protected]> * Use enum for planner database mode Signed-off-by: methylDragon <[email protected]> * Rename cache methods to prepare for cartesian caching Signed-off-by: methylDragon <[email protected]> * Add very important warning to cache class Signed-off-by: methylDragon <[email protected]> * Fix access after move bug Signed-off-by: methylDragon <[email protected]> * Remove internal cache node Signed-off-by: methylDragon <[email protected]> * Implement cartesian plan cache (#18) * Add cartesian plan caching interfaces Signed-off-by: methylDragon <[email protected]> * Add construct_get_cartesian_plan_request Signed-off-by: methylDragon <[email protected]> * Add goal query and metadata Signed-off-by: methylDragon <[email protected]> * Add start query and metadata Signed-off-by: methylDragon <[email protected]> * Implement top level cache ops Signed-off-by: methylDragon <[email protected]> * Use motion plan cache for cartesian plans Signed-off-by: methylDragon <[email protected]> * Allow mismatched plan frames since we coerce anyway Signed-off-by: methylDragon <[email protected]> * Fix move bug Signed-off-by: methylDragon <[email protected]> * Plan cache code review fixes (sans unit tests) (#26) * Remove query appending macro Signed-off-by: methylDragon <[email protected]> * Default to warehouse_ros plugin if warehouse plugin isn't set Signed-off-by: methylDragon <[email protected]> * Return and use init result Signed-off-by: methylDragon <[email protected]> * Add todo for catching exceptions Signed-off-by: methylDragon <[email protected]> * Implement plan fetching with configurable key Signed-off-by: methylDragon <[email protected]> * Add comments for exact match tolerance Signed-off-by: methylDragon <[email protected]> * Slightly refactor put plan Signed-off-by: methylDragon <[email protected]> * Rename overwrite to delete_worse_plans Signed-off-by: methylDragon <[email protected]> * Split out motion plan cache into its own library Signed-off-by: methylDragon <[email protected]> * Sort constraints for reduced cardinality Signed-off-by: methylDragon <[email protected]> * Rename util function Signed-off-by: methylDragon <[email protected]> * Add todo for is_diff Signed-off-by: methylDragon <[email protected]> * Add unit tests for motion plan cache (#28) * Add count methods Signed-off-by: methylDragon <[email protected]> * Enable shared from this for cache class Signed-off-by: methylDragon <[email protected]> * Add unit test build rules Signed-off-by: methylDragon <[email protected]> * Add tests for motion plan cache (but not cartesian) Signed-off-by: methylDragon <[email protected]> * Fix bugs in cartesian caching Signed-off-by: methylDragon <[email protected]> * Add tests for cartesian plan cache Signed-off-by: methylDragon <[email protected]> * Exit if a test fails Signed-off-by: methylDragon <[email protected]> * Remove gtest import Signed-off-by: methylDragon <[email protected]> * Remove enable_shared_from_this Signed-off-by: methylDragon <[email protected]> * Only check for failure Signed-off-by: methylDragon <[email protected]> * Test half in-tolerance Signed-off-by: methylDragon <[email protected]> * Test different robot cache Signed-off-by: methylDragon <[email protected]> * Add force_cache_mode_execute_read_only (#29) * Add force_cache_mode_execute_read_only Signed-off-by: methylDragon <[email protected]> * Add force_cache_mode_execute_read_only input port Signed-off-by: methylDragon <[email protected]> --------- Signed-off-by: methylDragon <[email protected]> --------- Signed-off-by: methylDragon <[email protected]> --------- Signed-off-by: methylDragon <[email protected]> --------- Signed-off-by: methylDragon <[email protected]> * Fix nullptr dereference Signed-off-by: methylDragon <[email protected]> * Fix and add motion planner server tests (#30) * Fix and add motion planner server tests Signed-off-by: methylDragon <[email protected]> * Add test deps Signed-off-by: methylDragon <[email protected]> * Add motion planner server test to CI Signed-off-by: methylDragon <[email protected]> --------- Signed-off-by: methylDragon <[email protected]> --------- Signed-off-by: methylDragon <[email protected]>
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Description
Built on top of #26 (and all its parents)
Adds comprehensive tests for motion and cartesian plan caching.
The testing uncovered some small bugs which are also fixed in this PR.
Run tests using:
Notes
I apologize in advance for the way I'm doing the testing. Since we need move_group to run, we need launch tests. I tried to make it as neat as possible.
Also I figured using robot descriptions in MoveIt would be best.
Not much way around it if we want easy assertions to bubble up if tests fail.