Prepare Panda test launch

moveit · Nov 30, 2021 · 0a16433 · 0a16433
1 parent 1406b10
commit 0a16433
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Showing 21 changed files with 34 additions and 365 deletions.
diff --git a/...ers/pilz_industrial_motion_planner/test/test_data/frankaemika_panda/testdata_sequence.xml b/...ers/pilz_industrial_motion_planner/test/test_data/frankaemika_panda/testdata_sequence.xml
diff --git a/moveit_planners/pilz_industrial_motion_planner/test/unit_tests/CMakeLists.txt b/moveit_planners/pilz_industrial_motion_planner/test/unit_tests/CMakeLists.txt
@@ -172,5 +172,4 @@ install(TARGETS ${UNIT_TEST_SOURCEFILES}
   LIBRARY DESTINATION lib
   RUNTIME DESTINATION lib/${PROJECT_NAME})
 
-install(DIRECTORY config DESTINATION share/${PROJECT_NAME})
 install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
diff --git a/...ndustrial_motion_planner/test/unit_tests/config/unittest_cartesian_limits_aggregator.yaml b/...ndustrial_motion_planner/test/unit_tests/config/unittest_cartesian_limits_aggregator.yaml
diff --git a/...rs/pilz_industrial_motion_planner/test/unit_tests/config/unittest_joint_limit_config.yaml b/...rs/pilz_industrial_motion_planner/test/unit_tests/config/unittest_joint_limit_config.yaml
diff --git a/...lz_industrial_motion_planner/test/unit_tests/config/unittest_joint_limits_aggregator.yaml b/...lz_industrial_motion_planner/test/unit_tests/config/unittest_joint_limits_aggregator.yaml
diff --git a/..._motion_planner/test/unit_tests/config/unittest_trajectory_blender_transition_window.yaml b/..._motion_planner/test/unit_tests/config/unittest_trajectory_blender_transition_window.yaml
diff --git a/.../pilz_industrial_motion_planner/test/unit_tests/config/unittest_trajectory_functions.yaml b/.../pilz_industrial_motion_planner/test/unit_tests/config/unittest_trajectory_functions.yaml
diff --git a/..._industrial_motion_planner/test/unit_tests/config/unittest_trajectory_generator_circ.yaml b/..._industrial_motion_planner/test/unit_tests/config/unittest_trajectory_generator_circ.yaml
diff --git a/...ndustrial_motion_planner/test/unit_tests/config/unittest_trajectory_generator_common.yaml b/...ndustrial_motion_planner/test/unit_tests/config/unittest_trajectory_generator_common.yaml
diff --git a/...z_industrial_motion_planner/test/unit_tests/config/unittest_trajectory_generator_lin.yaml b/...z_industrial_motion_planner/test/unit_tests/config/unittest_trajectory_generator_lin.yaml
diff --git a/...z_industrial_motion_planner/test/unit_tests/config/unittest_trajectory_generator_ptp.yaml b/...z_industrial_motion_planner/test/unit_tests/config/unittest_trajectory_generator_ptp.yaml
diff --git a/moveit_planners/pilz_industrial_motion_planner/test/unit_tests/launch/common_parameters.py b/moveit_planners/pilz_industrial_motion_planner/test/unit_tests/launch/common_parameters.py
@@ -36,6 +36,13 @@ def load_yaml(package_name, file_path):
         return None
 
 
+def load_test_data(robot_setup, test_data_file):
+    return load_yaml(
+        "pilz_industrial_motion_planner",
+        "test/test_data/" + robot_setup + "/config/" + test_data_file,
+    )
+
+
 class MoveItConfigs:
     robot_description = {}
     robot_description_semantic = {}
@@ -45,10 +52,10 @@ class MoveItConfigs:
 
 
 def load_moveit_config():
-    moveit_config_package_name = "moveit_resources_prbt_moveit_config"
-    description_package_name = "moveit_resources_prbt_support"
-    description_xacro_file = "urdf/prbt.xacro"
-    robot_description_semantic_file = "config/prbt.srdf.xacro"
+    moveit_config_package_name = "moveit_resources_panda_moveit_config"
+    description_package_name = "moveit_resources_panda_description"
+    description_xacro_file = "urdf/panda.urdf"
+    robot_description_semantic_file = "config/panda.srdf"
     robot_description_kinematics_file = "config/kinematics.yaml"
     joint_limits_file = "config/joint_limits.yaml"
     cartesian_limits_file = "config/cartesian_limits.yaml"

diff --git a/...strial_motion_planner/test/unit_tests/launch/unittest_cartesian_limits_aggregator.test.py b/...strial_motion_planner/test/unit_tests/launch/unittest_cartesian_limits_aggregator.test.py
@@ -8,6 +8,7 @@
 from launch import LaunchDescription
 from launch_ros.actions import Node
 from launch_testing.util import KeepAliveProc
+from common_parameters import load_test_data
 
 
 def load_file(package_name, file_path):
@@ -33,9 +34,8 @@ def load_yaml(package_name, file_path):
 
 @pytest.mark.rostest
 def generate_test_description():
-    cartesian_limits_yaml = load_yaml(
-        "pilz_industrial_motion_planner",
-        "config/unittest_cartesian_limits_aggregator.yaml",
+    cartesian_limits_yaml = load_test_data(
+        "panda", "unittest_cartesian_limits_aggregator.yaml"
     )
 
     # run test