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Add test for forcetorque plugin #30

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merged 17 commits into from
Aug 11, 2023
Merged

Add test for forcetorque plugin #30

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5589283
FT test
lucapa17 Aug 9, 2023
374f667
Create README.md
lucapa17 Aug 9, 2023
f01adbc
changes in CMakeLists files
lucapa17 Aug 10, 2023
dbcc747
Merge branch 'main' into FT-tests
lucapa17 Aug 10, 2023
3d7a04e
set env variable GZ_SIM_SYSTEM_PLUGIN_PATH in CMakeList file for FT test
lucapa17 Aug 10, 2023
9f4a0ec
use multipleanalogsensorsclient instead of yarp port for test
lucapa17 Aug 11, 2023
222a77c
add YARP_DATA_DIRS
GiacomoBisio Aug 11, 2023
fd28795
increase timeout and running time
GiacomoBisio Aug 11, 2023
6697372
Fix use of cache in apt workflow
traversaro Aug 11, 2023
2864978
Update apt.yml
traversaro Aug 11, 2023
f305c97
Update apt.yml
traversaro Aug 11, 2023
5a0f38c
check successful read of getSixAxisForceTorqueSensorMeasure
GiacomoBisio Aug 11, 2023
2b18712
Test with getSixAxisForceTorqueSensorStatus
GiacomoBisio Aug 11, 2023
1b97714
Delete README.md
GiacomoBisio Aug 11, 2023
9f13744
Changes in tutorial sdf files
GiacomoBisio Aug 11, 2023
234c357
Suppress tests on Windows
GiacomoBisio Aug 11, 2023
0715cd4
Update conda-forge.yml
GiacomoBisio Aug 11, 2023
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2 changes: 0 additions & 2 deletions tests/forcetorque/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -17,8 +17,6 @@ target_link_libraries(ForceTorqueTest
add_test(NAME ForceTorqueTest
COMMAND ForceTorqueTest)

set_property(TEST ForceTorqueTest PROPERTY ENVIRONMENT YARP_DATA_DIRS=${YARP_DATA_INSTALL_DIR_FULL})

set(_env_vars)
list(APPEND _env_vars "GZ_SIM_SYSTEM_PLUGIN_PATH=$<TARGET_FILE_DIR:GazeboYarpForceTorque>")

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14 changes: 11 additions & 3 deletions tests/forcetorque/ForceTorqueTest.cc
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Expand Up @@ -14,13 +14,13 @@ TEST(ForceTorqueTest, PluginTest)
// Instantiate test fixture
gz::sim::TestFixture fixture("../../../tests/forcetorque/model.sdf");

int iterations = 5000;
int iterations = 1000;
fixture.Server()->Run(/*_blocking=*/true, iterations, /*_paused=*/false);

yarp::os::Property option;
option.put("device","multipleanalogsensorsclient");
option.put("remote","/forcetorque");
option.put("timeout",5.0);
option.put("timeout",1.0);
option.put("local", "/ForceTorqueTest");
yarp::dev::PolyDriver driver;

Expand All @@ -36,7 +36,15 @@ TEST(ForceTorqueTest, PluginTest)
double timestamp;

isixaxis->getSixAxisForceTorqueSensorName(0, sensorName);
isixaxis->getSixAxisForceTorqueSensorMeasure(0, measure, timestamp);
//isixaxis->getSixAxisForceTorqueSensorMeasure(0, measure, timestamp);
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Suggested change
//isixaxis->getSixAxisForceTorqueSensorMeasure(0, measure, timestamp);

If we are not using it, let's remove it.

size_t maxNrOfReadingAttempts = 20;
bool readSuccessful = false;
for (size_t i=0; (i < maxNrOfReadingAttempts) && !readSuccessful ; i++)
{
readSuccessful = isixaxis->getSixAxisForceTorqueSensorMeasure(0, measure, timestamp);
std::this_thread::sleep_for(std::chrono::milliseconds(100));
}
ASSERT_TRUE(readSuccessful);
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Please avoid mixing tabs and spaces, as it may result in inconsistent rendring (the width of tabs is not constant).

Suggested change
ASSERT_TRUE(readSuccessful);
ASSERT_TRUE(readSuccessful);

//std::cerr << "The measure of FT sensor " << sensorName << " is " << measure.toString() << " at time " << timestamp << std::endl;

EXPECT_NEAR(measure(0), 0.0, 1e-2);
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