/moveit_kinematics_tests

Tests for various robots and inverse kinematics plugins

Primary LanguageC++

kinematics base tests

This repo contains unit tests for validating various implementation of the moveit_core::KinematicsBase interface class that are exposed as plugins. These implementations include ikfast, kdl and the pr2 arms. The tests consist of invoking commonly used methods such as initialize, searchPositionIK, searchPositionIK (with callback), getPositionIK and getPositionIK (with multiple solutions). The ikfast unit tests load up the ikfast kinematics solvers for the KukakR210 and Motoman SIA20d robots. The MotomanSIA20d arm is used here in order to verify that ikfast handles the redundant joint case appropriately.

Installation

  • Install wstool in order manage the repos inside the workspace

    sudo apt-get install python-wstool

  • Cd into the 'src' directory of your catkin workspace and run the following:

    wstool init . 
wstool merge https://raw.githubusercontent.com/ros-planning/moveit_kinematics_tests/jade-devel/install.rosinstall
wstool update
rosdep install --from-paths . --ignore-src
cd ..
catkin_make

Build ROS unit test

  • Cd into the catkin workspace directory and run the following

    catkin_make kinematics_base_test_utest

Run ROS unit test

  • Cd into the catkin workspace directory and run the following

    catkin_make run_tests_kinematics_base_test