Create tests for IKFast

[davetcoleman]

It would be nice if we had tests for this component of MoveIt!, as suggested in moveit/moveit_core#216

[gavanderhoorn]

iiuc you are talking about tests for the generated plugins, or for the python scripts in this package that generate the plugins?

If the former: I'm assuming it's the ROS<->IKFast interface that you'd like to see tested, not so much the IKFast code itself (which is already tested by OpenRAVE itself). If the latter, I guess we could add some, but the scripts are not impacted by any of the changes in moveit/moveit_core#216 afaict, so that wouldn't give us much.

[sachinchitta]

It would be useful to have a test for the ROS<->IKFast interface that loads the plugin, calls IK, etc. etc. - there's similar tests for the PR2 that you should be able to copy and just change some things in config/launch files to get it working.

It would be good to have the whole pipeline including the scripts tested too eventually.

[davetcoleman]

ROS<->IKFast interface

Yep.