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[WIP][hrpsys_ros_bridge_tutorials] Enable to call :def-limb-controller-method before *ri* initialization #1095

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[WIP][hrpsys_ros_bridge_tutorials] Enable to call :def-limb-controller-method before *ri* initialization #1095

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fdf527e
[hrpsys_ros_bridge] Add test of :def-limb-controller-method
pazeshun Apr 24, 2020
84af78c
[hrpsys_ros_bridge_tutorials] Enable to call :def-limb-controller-met…
pazeshun Apr 24, 2020
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2 changes: 1 addition & 1 deletion hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l
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Original file line number Diff line number Diff line change
Expand Up @@ -314,7 +314,7 @@
(cons :controller-action ,(format nil "~A_controller/follow_joint_trajectory_action" (string-downcase limb)))
(cons :controller-state ,(format nil "~A_controller/state" (string-downcase limb)))
(cons :action-type control_msgs::FollowJointTrajectoryAction)
(cons :joint-names (list ,@(send-all (send robot limb :joint-list) :name))))
(cons :joint-names (send-all (send robot ,limb :joint-list) :name)))
)))))
(if debugp
(pprint (macroexpand sexp)))
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21 changes: 21 additions & 0 deletions hrpsys_ros_bridge/test/hrpsys-samples/test-def-limb-controller-method.l
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Original file line number Diff line number Diff line change
@@ -0,0 +1,21 @@
(require :unittest "lib/llib/unittest.l")
(load "package://hrpsys_ros_bridge/euslisp/samplerobot-interface.l")

(init-unit-test)

;; Wait until Ros bridges are prepared.
(ros::roseus "unittest")
(unless (boundp '*tfl*)
(defvar *tfl* (instance ros::transform-listener :init)))
(send *tfl* :wait-for-transform "WAIST_LINK0" "odom" (ros::time) 20.0)

(deftest test-def-limb-controller-method
;; Test :def-limb-controller-method before *ri* initialization
(assert (instance samplerobot-interface :def-limb-controller-method :rleg))
(samplerobot-init)
;; Test :def-limb-controller-method after *ri* initialization
(assert (send *ri* :def-limb-controller-method :rleg))
)

(run-all-tests)
(exit)
4 changes: 4 additions & 0 deletions hrpsys_ros_bridge/test/hrpsys-samples/test_samplerobot_euslisp_unittests.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -42,4 +42,8 @@
args="$(find hrpsys_ros_bridge)/test/hrpsys-samples/samplerobot-unittest.l $(find hrpsys_ros_bridge)/test/hrpsys-samples/samplerobot-auto-balancer.l"
time-limit="900"
retry="1" />
<test test-name="test_def_limb_controller_method" pkg="roseus" type="roseus"
args="$(find hrpsys_ros_bridge)/test/hrpsys-samples/test-def-limb-controller-method.l"
time-limit="300"
retry="1" />
</launch>