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kdl_parser
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Merge pull request #52 from YoheiKakiuchi/hydro-devel-fix-test 

Fix tests on robot_model
This commit is contained in:
Ioan A Sucan 2014-01-23 19:38:47 -08:00
parent 0be9d41d59 52b59792ec
commit c7dba8169a
8 changed files with 15 additions and 11 deletions
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3
kdl_parser/CMakeLists.txt
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@ -33,7 +33,8 @@ add_executable(check_kdl_parser src/check_kdl_parser.cpp )
target_link_libraries(check_kdl_parser ${PROJECT_NAME}) target_link_libraries(check_kdl_parser ${PROJECT_NAME})
if(CATKIN_ENABLE_TESTING) if(CATKIN_ENABLE_TESTING)
catkin_add_gtest(test_kdl_parser test/test_kdl_parser.cpp ) find_package(catkin REQUIRED COMPONENTS rostest)
add_rostest_gtest(test_kdl_parser test/test_kdl_parser.launch test/test_kdl_parser.cpp )
target_link_libraries(test_kdl_parser ${PROJECT_NAME}) target_link_libraries(test_kdl_parser ${PROJECT_NAME})
endif() endif()

1
kdl_parser/package.xml
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@ -24,6 +24,7 @@
<build_depend>roscpp</build_depend> <build_depend>roscpp</build_depend>
<build_depend>urdf</build_depend> <build_depend>urdf</build_depend>
<build_depend>cmake_modules</build_depend> <build_depend>cmake_modules</build_depend>
<build_depend>rostest</build_depend>
<run_depend>orocos_kdl</run_depend> <run_depend>orocos_kdl</run_depend>
<run_depend>rosconsole</run_depend> <run_depend>rosconsole</run_depend>

8
kdl_parser/test/test_kdl_parser.launch
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@ -1,6 +1,6 @@
<launch> <launch>
<test test-name="test_kdl_parser" pkg="kdl_parser" type="test_parser" args="$(find kdl_parser)/test/pr2_desc_vector.xml \ <test test-name="test_kdl_parser" pkg="kdl_parser" type="test_kdl_parser" args="$(find kdl_parser)/test/pr2_desc_vector.xml \
$(find kdl_parser)/test/pr2_desc_bracket.xml \ $(find kdl_parser)/test/pr2_desc_bracket.xml \
$(find kdl_parser)/test/pr2_desc_bracket2.xml \ $(find kdl_parser)/test/pr2_desc_bracket2.xml \
$(find kdl_parser)/test/pr2_desc.xml" /> $(find kdl_parser)/test/pr2_desc.xml" />
</launch> </launch>

5
urdf/CMakeLists.txt
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@ -34,8 +34,9 @@ if(APPLE)
endif(APPLE) endif(APPLE)
if(CATKIN_ENABLE_TESTING) if(CATKIN_ENABLE_TESTING)
catkin_add_gtest(test_parser EXCLUDE_FROM_ALL test/test_robot_model_parser.cpp) find_package(catkin REQUIRED COMPONENTS rostest)
target_link_libraries(test_parser ${PROJECT_NAME}) add_rostest_gtest(test_urdf_parser test/test_robot_model_parser.launch test/test_robot_model_parser.cpp)
target_link_libraries(test_urdf_parser ${PROJECT_NAME})
endif() endif()
# no idea how CATKIN does this # no idea how CATKIN does this

1
urdf/package.xml
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@ -26,6 +26,7 @@
<build_depend>urdf_parser_plugin</build_depend> <build_depend>urdf_parser_plugin</build_depend>
<build_depend>pluginlib</build_depend> <build_depend>pluginlib</build_depend>
<build_depend>cmake_modules</build_depend> <build_depend>cmake_modules</build_depend>
<build_depend>rostest</build_depend>
<run_depend>rosconsole_bridge</run_depend> <run_depend>rosconsole_bridge</run_depend>
<run_depend>roscpp</run_depend> <run_depend>roscpp</run_depend>

4
urdf/test/singularity.urdf
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@ -16,7 +16,7 @@
<parent link="link1"/> <parent link="link1"/>
<child link="link2"/> <child link="link2"/>
<origin xyz="0 0 0" rpy="1.0 1.5707963267948966 0.5707963267948966"/> <origin xyz="0 0 0" rpy="1.0 1.5707963267948966 0.5707963267948966"/>
</link> </joint>
<link name="link3"> <link name="link3">
<inertial> <inertial>
<mass value="1"/> <mass value="1"/>
@ -27,5 +27,5 @@
<parent link="link2"/> <parent link="link2"/>
<child link="link3"/> <child link="link3"/>
<origin xyz="0 0 0" rpy="1.5707963267948966 1.5707963267948966 1.5707963267948966"/> <origin xyz="0 0 0" rpy="1.5707963267948966 1.5707963267948966 1.5707963267948966"/>
</link> </joint>
</robot> </robot>

2
urdf/test/test_robot_model_parser.launch
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@ -1,5 +1,5 @@
<launch> <launch>
<param name="robot_description" textfile="$(find urdf)/test/pr2_desc.urdf" /> <param name="robot_description" textfile="$(find urdf)/test/pr2_desc.urdf" />
<test test-name="robot_model_parser_test" pkg="urdf" type="test_parser" args="$(find urdf) fail_pr2_desc_bracket.urdf fail_pr2_desc_double_joint.urdf fail_pr2_desc_double.urdf fail_pr2_desc_loop.urdf fail_pr2_desc_no_filename_in_mesh.urdf fail_pr2_desc_no_joint2.urdf fail_pr2_desc_parent_itself.urdf fail_pr2_desc_two_trees.urdf fail_three_links_one_joint.urdf no_visual.urdf one_link.urdf pr2_desc_no_joint.urdf pr2_desc.urdf two_links_one_joint.urdf singularity.urdf" /> <test test-name="robot_model_parser_test" pkg="urdf" type="test_urdf_parser" args="$(find urdf) fail_pr2_desc_bracket.urdf fail_pr2_desc_double_joint.urdf fail_pr2_desc_double.urdf fail_pr2_desc_loop.urdf fail_pr2_desc_no_filename_in_mesh.urdf fail_pr2_desc_no_joint2.urdf fail_pr2_desc_parent_itself.urdf fail_pr2_desc_two_trees.urdf fail_three_links_one_joint.urdf no_visual.urdf one_link.urdf pr2_desc_no_joint.urdf pr2_desc.urdf two_links_one_joint.urdf singularity.urdf" />
</launch> </launch>

2
urdf/test/two_links_one_joint.urdf
View File

@ -15,5 +15,5 @@
<joint name="joint12" type="fixed"> <joint name="joint12" type="fixed">
<parent link="link1"/> <parent link="link1"/>
<child link="link2"/> <child link="link2"/>
</link> </joint>
</robot> </robot>