From fdf527e81b3409cb6529817297b4252ad51d14aa Mon Sep 17 00:00:00 2001 From: Shun Hasegawa Date: Fri, 24 Apr 2020 13:08:27 +0900 Subject: [PATCH 1/2] [hrpsys_ros_bridge] Add test of :def-limb-controller-method --- .../test-def-limb-controller-method.l | 21 +++++++++++++++++++ .../test_samplerobot_euslisp_unittests.launch | 4 ++++ 2 files changed, 25 insertions(+) create mode 100644 hrpsys_ros_bridge/test/hrpsys-samples/test-def-limb-controller-method.l diff --git a/hrpsys_ros_bridge/test/hrpsys-samples/test-def-limb-controller-method.l b/hrpsys_ros_bridge/test/hrpsys-samples/test-def-limb-controller-method.l new file mode 100644 index 000000000..b225debfa --- /dev/null +++ b/hrpsys_ros_bridge/test/hrpsys-samples/test-def-limb-controller-method.l @@ -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) diff --git a/hrpsys_ros_bridge/test/hrpsys-samples/test_samplerobot_euslisp_unittests.launch b/hrpsys_ros_bridge/test/hrpsys-samples/test_samplerobot_euslisp_unittests.launch index cde87b95e..3e368766a 100644 --- a/hrpsys_ros_bridge/test/hrpsys-samples/test_samplerobot_euslisp_unittests.launch +++ b/hrpsys_ros_bridge/test/hrpsys-samples/test_samplerobot_euslisp_unittests.launch @@ -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" /> + From 84af78c073f9f8ff10ca03a277016cf57751233b Mon Sep 17 00:00:00 2001 From: Shun Hasegawa Date: Fri, 24 Apr 2020 13:11:51 +0900 Subject: [PATCH 2/2] [hrpsys_ros_bridge_tutorials] Enable to call :def-limb-controller-method before *ri* initialization --- hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l b/hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l index da2cf0d79..bc9750941 100644 --- a/hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l +++ b/hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l @@ -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)))