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Commit 8bd84fc2 authored by Nikhil Ambardar's avatar Nikhil Ambardar
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check-worldsafety

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with 220 additions and 468 deletions
...@@ -210,9 +210,9 @@ add_executable(worldsafety ...@@ -210,9 +210,9 @@ add_executable(worldsafety
## Specify libraries to link a library or executable target against ## Specify libraries to link a library or executable target against
target_link_libraries(robot_models_node ${catkin_LIBRARIES} ) ##target_link_libraries(robot_models_node ${catkin_LIBRARIES} )
target_link_libraries(worldsafety ${catkin_LIBRARIES} ) target_link_libraries(worldsafety ${catkin_LIBRARIES} )
target_link_libraries(safetytest ${catkin_LIBRARIES} ) ##target_link_libraries(safetytest ${catkin_LIBRARIES} )
#add_dependencies(robot_models_node ${catkin_LIBRARIES}) #add_dependencies(robot_models_node ${catkin_LIBRARIES})
############# #############
......
...@@ -79,106 +79,6 @@ robot_models_node_EXTERNAL_OBJECTS = ...@@ -79,106 +79,6 @@ robot_models_node_EXTERNAL_OBJECTS =
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...@@ -79,106 +79,6 @@ safetytest_EXTERNAL_OBJECTS = ...@@ -79,106 +79,6 @@ safetytest_EXTERNAL_OBJECTS =
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File deleted
...@@ -128,7 +128,7 @@ moveit_visual_tools/moveit_visual_tools.h ...@@ -128,7 +128,7 @@ moveit_visual_tools/moveit_visual_tools.h
moveit/trajectory_processing/iterative_time_parameterization.h moveit/trajectory_processing/iterative_time_parameterization.h
- -
trajectory_msgs/JointTrajectoryPoint.h trajectory_msgs/JointTrajectoryPoint.h
- /home/nikhil/panda_gazebo_workspace/src/zero/src/trajectory_msgs/JointTrajectoryPoint.h
/opt/ros/melodic/include/actionlib/action_definition.h /opt/ros/melodic/include/actionlib/action_definition.h
......
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...@@ -4,7 +4,7 @@ ...@@ -4,7 +4,7 @@
<include file="$(find panda_moveit_config)/launch/moveit_rviz.launch"/> <include file="$(find panda_moveit_config)/launch/moveit_rviz.launch"/>
<node pkg="testappm" type="safety_model" name="launcher" respawn="false" output="screen"/> <node pkg="worldsafety" type="safety_model" name="launcher" respawn="false" output="screen"/>
</launch> </launch>
...@@ -4,8 +4,8 @@ ...@@ -4,8 +4,8 @@
class humanspace class humanspace
{ {
public: public:
//int humannum; int humannum;
uint32 humannum; // uint32 humannum;
//constructor //constructor
......
This diff is collapsed.
...@@ -29,7 +29,7 @@ ...@@ -29,7 +29,7 @@
#include <moveit_msgs/CollisionObject.h> #include <moveit_msgs/CollisionObject.h>
#include <moveit_visual_tools/moveit_visual_tools.h> #include <moveit_visual_tools/moveit_visual_tools.h>
#include <moveit/trajectory_processing/iterative_time_parameterization.h> #include <moveit/trajectory_processing/iterative_time_parameterization.h>
#include <trajectory_msgs/JointTrajectoryPoint.h> #include "trajectory_msgs/JointTrajectoryPoint.h"
int main(int argc, char** argv) int main(int argc, char** argv)
{ {
...@@ -51,34 +51,27 @@ int main(int argc, char** argv) ...@@ -51,34 +51,27 @@ int main(int argc, char** argv)
joint o5f; joint o5f;
joint o5g; joint o5g;
obstacle o6; obstacle o6;
robot o7; robot robot1;
robotfpe o8; robotfpe o8;
world o9; world o9;
worldobject o10; worldobject o10;
o7.jo.push_back(o5a); robot1.jo.push_back(o5a);
o7.jo.push_back(o5b); robot1.jo.push_back(o5b);
o7.jo.push_back(o5c); robot1.jo.push_back(o5c);
o7.jo.push_back(o5d); robot1.jo.push_back(o5d);
o7.jo.push_back(o5e); robot1.jo.push_back(o5e);
o7.jo.push_back(o5f); robot1.jo.push_back(o5f);
o7.jo.push_back(o5g); robot1.jo.push_back(o5g);
/* // test if the robot contains 7 joints static test
if (o7.jo.size() == 5) {
ROS_INFO("SIZE IS 5");
} else {
ROS_INFO_STREAM("SIZE IS NOT 5 but was " << o7.jo.size());
}*/
int yx=0; int yx=0;
o7.jo[++yx].name= "panda_link1"; robot1.jo[++yx].name= "panda_link1";
o7.jo[++yx].name= "panda_link2"; robot1.jo[++yx].name= "panda_link2";
o7.jo[++yx].name= "panda_link3"; robot1.jo[++yx].name= "panda_link3";
o7.jo[++yx].name= "panda_link4"; robot1.jo[++yx].name= "panda_link4";
o7.jo[++yx].name= "panda_link5"; robot1.jo[++yx].name= "panda_link5";
o7.jo[++yx].name= "panda_link6"; robot1.jo[++yx].name= "panda_link6";
o7.jo[++yx].name= "panda_link7"; robot1.jo[++yx].name= "panda_link7";
o9.c->robname="Robot FPE"; o9.c->robname="Robot FPE";
o9.c->of=true; o9.c->of=true;
...@@ -105,34 +98,12 @@ int main(int argc, char** argv) ...@@ -105,34 +98,12 @@ int main(int argc, char** argv)
o9.b2->z = 1.6; o9.b2->z = 1.6;
o9.b2->w = 1.9; o9.b2->w = 1.9;
// Check Robot Motion if moved to a specific point or not // Static Tests - World Model Safety Test Cases to check Segmentation error
// setup the planning environment // test the properties of the model that do not change over time, such as the structure of you model
if (robot1.jo.size() == 7)
/* static const std::string PLANNING_GROUP = "panda_arm"; { ROS_INFO_STREAM(" TEST CASE SUCCESSFUL. ROBOT FPE HAS 7 JOINTS ");}
moveit::planning_interface::MoveGroupInterface move_group(PLANNING_GROUP);
moveit::planning_interface::PlanningSceneInterface planning_scene_interface;
ros::Duration(3.0).sleep();
move_group.setStartStateToCurrentState();
geometry_msgs::Pose another_pose;
another_pose.orientation.w = 1.0;
another_pose.position.x = 0.4;
another_pose.position.y = -0.4;
another_pose.position.z = 0.9;
move_group.setPoseTarget(another_pose);
moveit::planning_interface::MoveGroupInterface::Plan my_plan;
bool success = (move_group.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
ROS_INFO("Visualizing plan %s", success ? "" : "FAILED");
// Move the (simulated) robot in gazebo
move_group.move();*/
if (o7.jo.size() == 7)
ROS_INFO_STREAM(" TEST CASE SUCCESSFUL. ROBOT FPE HAS 7 JOINTS ");
else else
ROS_ERROR_STREAM(" TEST CASE FAILED. ROBOT FPE HAS WRONG NUMBER OF JOINTS = " << o7.jo.size()); { ROS_ERROR_STREAM(" TEST CASE FAILED. ROBOT FPE HAS WRONG NUMBER OF JOINTS = " << robot1.jo.size());}
if (o8.h == nullptr) if (o8.h == nullptr)
ROS_ERROR("ERROR IN HAND POINTER IN ROBOT FPE CLASS AGGREGATION RELATION"); ROS_ERROR("ERROR IN HAND POINTER IN ROBOT FPE CLASS AGGREGATION RELATION");
...@@ -148,13 +119,12 @@ int main(int argc, char** argv) ...@@ -148,13 +119,12 @@ int main(int argc, char** argv)
if (o9.b2 == nullptr) if (o9.b2 == nullptr)
ROS_ERROR("ERROR IN ABSTRACT OBJECT CLASS AGGREGATION RELATION"); ROS_ERROR("ERROR IN ABSTRACT OBJECT CLASS AGGREGATION RELATION");
// End of static tests
// Start Robot Motion
static const std::string PLANNING_GROUP = "panda_arm"; static const std::string PLANNING_GROUP = "panda_arm";
moveit::planning_interface::MoveGroupInterface move_group(PLANNING_GROUP); moveit::planning_interface::MoveGroupInterface move_group(PLANNING_GROUP);
moveit::planning_interface::PlanningSceneInterface planning_scene_interface; moveit::planning_interface::PlanningSceneInterface planning_scene_interface;
ros::Duration(3.0).sleep(); ros::Duration(3.0).sleep();
move_group.setStartStateToCurrentState(); move_group.setStartStateToCurrentState();
geometry_msgs::Pose another_pose; geometry_msgs::Pose another_pose;
...@@ -167,55 +137,42 @@ int main(int argc, char** argv) ...@@ -167,55 +137,42 @@ int main(int argc, char** argv)
moveit::planning_interface::MoveGroupInterface::Plan my_plan; moveit::planning_interface::MoveGroupInterface::Plan my_plan;
bool success = (move_group.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS); bool success = (move_group.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
ROS_INFO("Visualizing plan %s", success ? "" : "FAILED"); ROS_INFO("Visualizing plan %s", success ? "" : "FAILED");
// Move the (simulated) robot in gazebo // Move the (simulated) robot in gazebo
move_group.move(); move_group.move();
//ros::shutdown();
// End Robot Motion
// Start input values from Gazebo to program
tf2_ros::Buffer tfBuffer; tf2_ros::Buffer tfBuffer;
tf2_ros::TransformListener tfListener(tfBuffer); tf2_ros::TransformListener tfListener(tfBuffer);
ros::Rate rate(10); ros::Rate rate(10);
//robot1.jo[7].p1[2]=0.0;
int i=0; int i=0;
int ho=0; int ho=0;
while (node_handle.ok()) { while (node_handle.ok())
{ {
geometry_msgs::TransformStamped transformStamped[7]; geometry_msgs::TransformStamped transformStamped[7];
try { try {
transformStamped[++i] = tfBuffer.lookupTransform("world", o7.jo[++ho].name, ros::Time(0)); transformStamped[++i] = tfBuffer.lookupTransform("world", robot1.jo[++ho].name, ros::Time(0));
} catch (tf2::TransformException &ex) { } catch (tf2::TransformException &ex) {
ROS_WARN("%s", ex.what()); ROS_WARN("%s", ex.what());
ros::Duration(0.1).sleep(); ros::Duration(0.1).sleep();
continue; continue;
} }
o7.jo[7].p1[2]=transformStamped[7].transform.translation.z; robot1.jo[i].p1[2] = transformStamped[ho].transform.translation.z;
}//End of taking input in program
// World Model Safety Test Cases to check Segmentation errors // Begin test case to check if robot moved to its position
ros::Rate rate(10); while (node_handle.ok())
// test the properties of the model that do not change over time, such as the structure of you model
// Static Tests
while (node_handle.ok()) {
{ {
// update the model data like in the application model node {
// update the model data like in the application model node, test the dynamic parts here, i.e., if the model data is consistent with the position of the robot
// test the dynamic parts here, i.e., if the model data is consistent with the position of the robot
//Checking if robot moved to position or not //Checking if robot moved to position or not
if (o7.jo[7].p1[2] == 0.9) if (robot1.jo[7].p1[2] == 0.9)
ROS_INFO_STREAM(" THE ROBOT HAS MOVED TO POSITION AS INTENDED "); ROS_INFO_STREAM(" THE ROBOT HAS MOVED TO POSITION AS INTENDED ");
else else
ROS_ERROR_STREAM("THE ROBOT HAS NOT MOVED TO THE POSITION AS INTENDED"); ROS_ERROR_STREAM("THE ROBOT HAS NOT MOVED TO THE POSITION AS INTENDED");
ros::shutdown();
}
} }
rate.sleep(); rate.sleep();
} }
return 0; return 0;
} }
}
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