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Add logic to Ros2ControlManager to match ros2_control (#3332)
* Add logic to Ros2ControlManager to match ros2_control Signed-off-by: Paul Gesel <[email protected]> * Add Ros2ControlManager test Signed-off-by: Paul Gesel <[email protected]> * move simplifyControllerActivationDeactivation to function and add doxygen Signed-off-by: Paul Gesel <[email protected]> * move queue.pop_back up Signed-off-by: Paul Gesel <[email protected]> * Update moveit_plugins/moveit_ros_control_interface/src/controller_manager_plugin.cpp Co-authored-by: Sebastian Castro <[email protected]> * Update moveit_plugins/moveit_ros_control_interface/src/controller_manager_plugin.cpp Co-authored-by: Sebastian Castro <[email protected]> * Update moveit_plugins/moveit_ros_control_interface/src/controller_manager_plugin.cpp Co-authored-by: Sebastian Castro <[email protected]> * pr feedback Signed-off-by: Paul Gesel <[email protected]> * clang fixes Signed-off-by: Paul Gesel <[email protected]> --------- Signed-off-by: Paul Gesel <[email protected]> Co-authored-by: Sebastian Castro <[email protected]> Co-authored-by: Sebastian Jahr <[email protected]>
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moveit_plugins/moveit_ros_control_interface/test/CMakeLists.txt
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| @@ -0,0 +1,8 @@ | ||
| find_package(ament_cmake_gtest REQUIRED) | ||
| find_package(pluginlib REQUIRED) | ||
| ament_add_gtest(test_controller_manager_plugin | ||
| test_controller_manager_plugin.cpp TIMEOUT 20) | ||
| target_link_libraries(test_controller_manager_plugin | ||
| moveit_ros_control_interface_plugin) | ||
| target_include_directories(test_controller_manager_plugin | ||
| PRIVATE ${CMAKE_SOURCE_DIR}/include) |
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moveit_plugins/moveit_ros_control_interface/test/test_controller_manager_plugin.cpp
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| /********************************************************************* | ||
| * Software License Agreement (BSD License) | ||
| * | ||
| * Copyright (c) 2013, Willow Garage, Inc. | ||
| * All rights reserved. | ||
| * | ||
| * Redistribution and use in source and binary forms, with or without | ||
| * modification, are permitted provided that the following conditions | ||
| * are met: | ||
| * | ||
| * * Redistributions of source code must retain the above copyright | ||
| * notice, this list of conditions and the following disclaimer. | ||
| * * Redistributions in binary form must reproduce the above | ||
| * copyright notice, this list of conditions and the following | ||
| * disclaimer in the documentation and/or other materials provided | ||
| * with the distribution. | ||
| * * Neither the name of Willow Garage nor the names of its | ||
| * contributors may be used to endorse or promote products derived | ||
| * from this software without specific prior written permission. | ||
| * | ||
| * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
| * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
| * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
| * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
| * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
| * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
| * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| * POSSIBILITY OF SUCH DAMAGE. | ||
| *********************************************************************/ | ||
|
|
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| #include <vector> | ||
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| #include <gtest/gtest.h> | ||
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| #include <controller_manager_msgs/srv/detail/list_controllers__struct.hpp> | ||
| #include <controller_manager_msgs/srv/detail/switch_controller__struct.hpp> | ||
| #include <eigen3/Eigen/Eigen> | ||
| #include <moveit/controller_manager/controller_manager.hpp> | ||
| #include <pluginlib/class_loader.hpp> | ||
|
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| class MockControllersManagerService final : public rclcpp::Node | ||
| { | ||
| public: | ||
| MockControllersManagerService() : Node("list_controllers_service") | ||
| { | ||
| list_controller_service_ = create_service<controller_manager_msgs::srv::ListControllers>( | ||
| "controller_manager/list_controllers", | ||
| [this](const std::shared_ptr<controller_manager_msgs::srv::ListControllers::Request>& request, | ||
| const std::shared_ptr<controller_manager_msgs::srv::ListControllers::Response>& response) { | ||
| handleListControllersService(request, response); | ||
| }); | ||
| switch_controller_service_ = create_service<controller_manager_msgs::srv::SwitchController>( | ||
| "controller_manager/switch_controller", | ||
| [this](const std::shared_ptr<controller_manager_msgs::srv::SwitchController::Request>& request, | ||
| const std::shared_ptr<controller_manager_msgs::srv::SwitchController::Response>& response) { | ||
| handleSwitchControllerService(request, response); | ||
| }); | ||
| } | ||
|
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| controller_manager_msgs::srv::SwitchController::Request last_request; | ||
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| private: | ||
| void handleListControllersService( | ||
| const std::shared_ptr<controller_manager_msgs::srv::ListControllers::Request>& /*request*/, | ||
| const std::shared_ptr<controller_manager_msgs::srv::ListControllers::Response>& response) | ||
| { | ||
| controller_manager_msgs::msg::ChainConnection chain_connection_a; | ||
| chain_connection_a.name = "B"; | ||
| chain_connection_a.reference_interfaces = { "ref_1", "ref_2", "ref_3" }; | ||
| controller_manager_msgs::msg::ControllerState controller_a; | ||
| controller_a.chain_connections.push_back(chain_connection_a); | ||
| controller_a.name = "A"; | ||
| controller_a.is_chained = true; | ||
| controller_a.required_command_interfaces = { "jnt_1", "jnt_2", "jnt_3" }; | ||
| controller_a.type = "joint_trajectory_controller/JointTrajectoryController"; | ||
| controller_a.state = activate_set_.find(controller_a.name) != activate_set_.end() ? "active" : "inactive"; | ||
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| controller_manager_msgs::msg::ControllerState controller_b; | ||
| controller_b.name = "B"; | ||
| controller_b.required_command_interfaces = { "jnt_4", "jnt_5" }; | ||
| controller_b.reference_interfaces = { "ref_1", "ref_2", "ref_3" }; | ||
| controller_b.type = "joint_trajectory_controller/JointTrajectoryController"; | ||
| controller_b.state = activate_set_.find(controller_b.name) != activate_set_.end() ? "active" : "inactive"; | ||
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| response->controller = { controller_a, controller_b }; | ||
| } | ||
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| void handleSwitchControllerService( | ||
| const std::shared_ptr<controller_manager_msgs::srv::SwitchController::Request>& request, | ||
| const std::shared_ptr<controller_manager_msgs::srv::SwitchController::Response>& response) | ||
| { | ||
| last_request = *request; | ||
| for (const auto& deactivate : request->deactivate_controllers) | ||
| { | ||
| activate_set_.erase(deactivate); | ||
| } | ||
| for (const auto& activate : request->activate_controllers) | ||
| { | ||
| activate_set_.insert(activate); | ||
| } | ||
| response->ok = true; | ||
| } | ||
|
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| std::unordered_set<std::string> activate_set_; | ||
| rclcpp::Service<controller_manager_msgs::srv::ListControllers>::SharedPtr list_controller_service_; | ||
| rclcpp::Service<controller_manager_msgs::srv::SwitchController>::SharedPtr switch_controller_service_; | ||
| }; | ||
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| TEST(ControllerManagerPlugin, SwitchControllers) | ||
| { | ||
| // GIVEN a ClassLoader for MoveItControllerManager | ||
| pluginlib::ClassLoader<moveit_controller_manager::MoveItControllerManager> loader( | ||
| "moveit_core", "moveit_controller_manager::MoveItControllerManager"); | ||
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| // WHEN we load the custom plugin defined in this package | ||
| // THEN loading succeeds | ||
| auto instance = loader.createUniqueInstance("moveit_ros_control_interface/Ros2ControlManager"); | ||
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| const auto mock_service = std::make_shared<MockControllersManagerService>(); | ||
| rclcpp::executors::SingleThreadedExecutor executor; | ||
| std::thread ros_thread([&executor, &mock_service]() { | ||
| executor.add_node(mock_service); | ||
| executor.spin(); | ||
| }); | ||
| instance->initialize(mock_service); | ||
|
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| // A and B should start | ||
| instance->switchControllers({ "/A" }, {}); | ||
| EXPECT_EQ(mock_service->last_request.activate_controllers, std::vector<std::string>({ "A", "B" })); | ||
| EXPECT_EQ(mock_service->last_request.deactivate_controllers, std::vector<std::string>({})); | ||
| // A and B should stop | ||
| instance->switchControllers({}, { "/B" }); | ||
| EXPECT_EQ(mock_service->last_request.activate_controllers, std::vector<std::string>({})); | ||
| EXPECT_EQ(mock_service->last_request.deactivate_controllers, std::vector<std::string>({ "A", "B" })); | ||
| // Only B should start | ||
| instance->switchControllers({ "/B" }, {}); | ||
| EXPECT_EQ(mock_service->last_request.activate_controllers, std::vector<std::string>({ "B" })); | ||
| EXPECT_EQ(mock_service->last_request.deactivate_controllers, std::vector<std::string>({})); | ||
| // Only B should stop | ||
| instance->switchControllers({}, { "/B" }); | ||
| EXPECT_EQ(mock_service->last_request.activate_controllers, std::vector<std::string>({})); | ||
| EXPECT_EQ(mock_service->last_request.deactivate_controllers, std::vector<std::string>({ "B" })); | ||
| // Multiple activations results in only 1 | ||
| instance->switchControllers({ "/B", "/B", "/B", "/B" }, {}); | ||
| EXPECT_EQ(mock_service->last_request.activate_controllers, std::vector<std::string>({ "B" })); | ||
| EXPECT_EQ(mock_service->last_request.deactivate_controllers, std::vector<std::string>({})); | ||
| instance->switchControllers({}, { "/B" }); | ||
| // Multiple activation and deactivate of same controller results in empty list | ||
| instance->switchControllers({ "/B", "/A" }, { "/A", "/A", "/A" }); | ||
| EXPECT_EQ(mock_service->last_request.activate_controllers, std::vector<std::string>({ "B" })); | ||
| EXPECT_EQ(mock_service->last_request.deactivate_controllers, std::vector<std::string>({})); | ||
|
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| executor.cancel(); | ||
| ros_thread.join(); | ||
| } | ||
|
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| TEST(ControllerManagerPlugin, LoadMoveItControllerManagerPlugin) | ||
| { | ||
| // GIVEN a ClassLoader for MoveItControllerManager | ||
| pluginlib::ClassLoader<moveit_controller_manager::MoveItControllerManager> loader( | ||
| "moveit_core", "moveit_controller_manager::MoveItControllerManager"); | ||
|
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| // WHEN we load the custom plugin defined in this package | ||
| // THEN loading succeeds | ||
| EXPECT_NO_THROW(loader.createUniqueInstance("moveit_ros_control_interface/Ros2ControlManager")); | ||
| } | ||
|
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| int main(int argc, char** argv) | ||
| { | ||
| ::testing::InitGoogleTest(&argc, argv); | ||
| rclcpp::init(argc, argv); | ||
| const int result = RUN_ALL_TESTS(); | ||
| rclcpp::shutdown(); | ||
| return result; | ||
| } |