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Commit 2af9088d authored by Nadia Hammoudeh García's avatar Nadia Hammoudeh García Committed by G.A. vd. Hoorn
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Add roslaunch tests (#362) 

Squashed commits:

* add roslaunch tests
* add missed dependencies
* Do not install roslaunch tests.
parent ff58d33e
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with 176 additions and 250 deletions
ur10_moveit_config/CMakeLists.txt
+ 5
− 0
View file @ 2af9088d
......@@ -5,5 +5,10 @@ find_package(catkin REQUIRED)
catkin_package()
if (CATKIN_ENABLE_TESTING)
find_package(roslaunch REQUIRED)
roslaunch_add_file_check(tests/moveit_planning_execution.xml)
endif()
install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
ur10_moveit_config/package.xml
+ 1
− 1
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......@@ -26,7 +26,7 @@
<build_depend>ur_description</build_depend>
<run_depend>ur_description</run_depend>
<test_depend>roslaunch</test_depend>
<buildtool_depend>catkin</buildtool_depend>
</package>
ur10_moveit_config/tests/moveit_planning_execution.xml 0 → 100644
+ 17
− 0
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<?xml version="1.0"?>
<launch>
<group>
<include file="$(find ur10_moveit_config)/launch/ur10_moveit_planning_execution.launch">
<arg name="sim" value="false" />
</include>
</group>
<group ns="sim">
<include file="$(find ur10_moveit_config)/launch/ur10_moveit_planning_execution.launch">
<arg name="sim" value="true" />
</include>
</group>
</launch>
ur3_moveit_config/CMakeLists.txt
+ 5
− 0
View file @ 2af9088d
......@@ -5,5 +5,10 @@ find_package(catkin REQUIRED)
catkin_package()
if (CATKIN_ENABLE_TESTING)
find_package(roslaunch REQUIRED)
roslaunch_add_file_check(tests/moveit_planning_execution.xml)
endif()
install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
ur3_moveit_config/package.xml
+ 1
− 1
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......@@ -26,7 +26,7 @@
<build_depend>ur_description</build_depend>
<run_depend>ur_description</run_depend>
<test_depend>roslaunch</test_depend>
<buildtool_depend>catkin</buildtool_depend>
</package>
ur3_moveit_config/tests/moveit_planning_execution.xml 0 → 100644
+ 18
− 0
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<?xml version="1.0"?>
<launch>
<arg name="robot_ip" value="127.0.0.1" />
<group>
<include file="$(find ur3_moveit_config)/launch/ur3_moveit_planning_execution.launch">
<arg name="sim" value="false" />
</include>
</group>
<group ns="sim">
<include file="$(find ur3_moveit_config)/launch/ur3_moveit_planning_execution.launch">
<arg name="sim" value="true" />
</include>
</group>
</launch>
ur5_moveit_config/CMakeLists.txt
+ 5
− 0
View file @ 2af9088d
......@@ -5,5 +5,10 @@ find_package(catkin REQUIRED)
catkin_package()
if (CATKIN_ENABLE_TESTING)
find_package(roslaunch REQUIRED)
roslaunch_add_file_check(tests/moveit_planning_execution.xml)
endif()
install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
ur5_moveit_config/package.xml
+ 1
− 1
View file @ 2af9088d
......@@ -26,7 +26,7 @@
<build_depend>ur_description</build_depend>
<run_depend>ur_description</run_depend>
<test_depend>roslaunch</test_depend>
<buildtool_depend>catkin</buildtool_depend>
</package>
ur5_moveit_config/tests/moveit_planning_execution.xml 0 → 100644
+ 18
− 0
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<?xml version="1.0"?>
<launch>
<arg name="robot_ip" value="127.0.0.1" />
<group>
<include file="$(find ur5_moveit_config)/launch/ur5_moveit_planning_execution.launch">
<arg name="sim" value="false" />
</include>
</group>
<group ns="sim">
<include file="$(find ur5_moveit_config)/launch/ur5_moveit_planning_execution.launch">
<arg name="sim" value="true" />
</include>
</group>
</launch>
ur_bringup/CMakeLists.txt
+ 6
− 122
View file @ 2af9088d
cmake_minimum_required(VERSION 2.8.3)
project(ur_bringup)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()
#######################################
## Declare ROS messages and services ##
#######################################
## Generate messages in the 'msg' folder
# add_message_files(
# FILES
# Message1.msg
# Message2.msg
# )
## Generate services in the 'srv' folder
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )
## Generate added messages and services with any dependencies listed here
# generate_messages(
# DEPENDENCIES
# std_msgs # Or other packages containing msgs
# )
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES ur_bringup
# CATKIN_DEPENDS tf2_ros ur_description ur_driver
# DEPENDS system_lib
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
# include_directories(include ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS})
## Declare a cpp library
# add_library(ur_bringup
# src/${PROJECT_NAME}/ur_bringup.cpp
# )
catkin_package()
## Declare a cpp executable
# add_executable(ur_bringup_node src/ur_bringup_node.cpp)
## Add cmake target dependencies of the executable/library
## as an example, message headers may need to be generated before nodes
# add_dependencies(ur_bringup_node ur_bringup_generate_messages_cpp)
## Specify libraries to link a library or executable target against
# target_link_libraries(ur_bringup_node
# ${catkin_LIBRARIES}
# )
#############
## Install ##
#############
if (CATKIN_ENABLE_TESTING)
find_package(roslaunch REQUIRED)
roslaunch_add_file_check(tests/roslaunch_test.xml)
endif()
install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables and/or libraries for installation
# install(TARGETS ur_bringup ur_bringup_node
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
# )
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_ur_bringup.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
ur_bringup/package.xml
+ 2
− 0
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......@@ -14,9 +14,11 @@
<url type="website">http://ros.org/wiki/ur_bringup</url>
<buildtool_depend>catkin</buildtool_depend>
<test_depend>roslaunch</test_depend>
<run_depend>tf2_ros</run_depend>
<run_depend>ur_description</run_depend>
<run_depend>ur_driver</run_depend>
<run_depend>robot_state_publisher</run_depend>
<export>
</export>
......
ur_bringup/tests/roslaunch_test.xml 0 → 100644
+ 55
− 0
View file @ 2af9088d
<?xml version="1.0"?>
<launch>
<arg name="robot_ip" value="127.0.0.1" />
<arg name="reverse_port" default="50001"/>
<arg name="limited" default="false"/>
<arg name="min_payload" default="0.0"/>
<arg name="max_payload" default="20.0"/>
<group ns="ur3_bringup__">
<include file="$(find ur_bringup)/launch/ur3_bringup.launch">
<arg name="robot_ip" value="$(arg robot_ip)" />
</include>
</group>
<group ns="ur5_bringup__">
<include file="$(find ur_bringup)/launch/ur5_bringup.launch">
<arg name="robot_ip" value="$(arg robot_ip)" />
</include>
</group>
<group ns="ur10_bringup__">
<include file="$(find ur_bringup)/launch/ur10_bringup.launch">
<arg name="robot_ip" value="$(arg robot_ip)" />
</include>
</group>
<group ns="ur3_bringup_joint_limited__">
<include file="$(find ur_bringup)/launch/ur3_bringup_joint_limited.launch">
<arg name="robot_ip" value="$(arg robot_ip)" />
</include>
</group>
<group ns="ur5_bringup_joint_limited__">
<include file="$(find ur_bringup)/launch/ur5_bringup_joint_limited.launch">
<arg name="robot_ip" value="$(arg robot_ip)" />
</include>
</group>
<group ns="ur10_bringup_joint_limited__">
<include file="$(find ur_bringup)/launch/ur10_bringup_joint_limited.launch">
<arg name="robot_ip" value="$(arg robot_ip)" />
</include>
</group>
<group ns="ur_common__">
<include file="$(find ur_bringup)/launch/ur_common.launch">
<arg name="robot_ip" value="$(arg robot_ip)" />
<arg name="reverse_port" value="$(arg reverse_port)"/>
<arg name="min_payload" value="$(arg min_payload)"/>
<arg name="max_payload" value="$(arg max_payload)"/>
</include>
</group>
</launch>
ur_gazebo/CMakeLists.txt
+ 7
− 125
View file @ 2af9088d
cmake_minimum_required(VERSION 2.8.3)
project(ur_gazebo)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()
#######################################
## Declare ROS messages and services ##
#######################################
## Generate messages in the 'msg' folder
# add_message_files(
# FILES
# Message1.msg
# Message2.msg
# )
## Generate services in the 'srv' folder
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )
## Generate added messages and services with any dependencies listed here
# generate_messages(
# DEPENDENCIES
# std_msgs # Or other packages containing msgs
# )
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES ur_gazebo
# CATKIN_DEPENDS ur_description
# DEPENDS system_lib
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
# include_directories(include ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS})
## Declare a cpp library
# add_library(ur_gazebo
# src/${PROJECT_NAME}/ur_gazebo.cpp
# )
## Declare a cpp executable
# add_executable(ur_gazebo_node src/ur_gazebo_node.cpp)
## Add cmake target dependencies of the executable/library
## as an example, message headers may need to be generated before nodes
# add_dependencies(ur_gazebo_node ur_gazebo_generate_messages_cpp)
## Specify libraries to link a library or executable target against
# target_link_libraries(ur_gazebo_node
# ${catkin_LIBRARIES}
# )
#############
## Install ##
#############
install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
install(DIRECTORY controller DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables and/or libraries for installation
# install(TARGETS ur_gazebo ur_gazebo_node
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
# )
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
#############
## Testing ##
#############
catkin_package()
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_ur_gazebo.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
if (CATKIN_ENABLE_TESTING)
find_package(roslaunch REQUIRED)
roslaunch_add_file_check(tests/roslaunch_test.xml)
endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
install(DIRECTORY launch controller DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
ur_gazebo/package.xml
+ 2
− 0
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......@@ -18,6 +18,7 @@
<url type="website">http://ros.org/wiki/ur_gazebo</url>
<buildtool_depend>catkin</buildtool_depend>
<test_depend>roslaunch</test_depend>
<run_depend>ur_description</run_depend>
<run_depend>gazebo_ros</run_depend>
<run_depend>gazebo_ros_control</run_depend>
......@@ -25,6 +26,7 @@
<run_depend>joint_trajectory_controller</run_depend>
<run_depend>effort_controllers</run_depend>
<run_depend>robot_state_publisher</run_depend>
<run_depend>rostopic</run_depend>
<run_depend>controller_manager</run_depend>
......
ur_gazebo/tests/roslaunch_test.xml 0 → 100644
+ 33
− 0
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<?xml version="1.0"?>
<launch>
<group ns="ur3__">
<include file="$(find ur_gazebo)/launch/ur3.launch"/>
</group>
<group ns="ur5__">
<include file="$(find ur_gazebo)/launch/ur5.launch"/>
</group>
<group ns="ur10__">
<include file="$(find ur_gazebo)/launch/ur10.launch"/>
</group>
<group ns="ur3_joint_limited__">
<include file="$(find ur_gazebo)/launch/ur3_joint_limited.launch"/>
</group>
<group ns="ur5_joint_limited__">
<include file="$(find ur_gazebo)/launch/ur5_joint_limited.launch"/>
</group>
<group ns="ur10_joint_limited__">
<include file="$(find ur_gazebo)/launch/ur10_joint_limited.launch"/>
</group>
<group ns="controller_utils__">
<include file="$(find ur_gazebo)/launch/controller_utils.launch"/>
</group>
</launch>
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