Changed the function namings by camelCase and some changes in launch …

…files
moveit · Jun 10, 2024 · 1d3f0ff · 1d3f0ff
1 parent bfbfc0d
commit 1d3f0ff
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Showing 3 changed files with 19 additions and 22 deletions.
diff --git a/.github/workflows/industrial_ci.yml b/.github/workflows/industrial_ci.yml
@@ -10,11 +10,11 @@ jobs:
         ROS_DISTRO: [iron]
         ROS_REPO: [testing, main]
     env:
-      CCACHE_DIR: "${{ github.workspace }}/.ccache" 
+      CCACHE_DIR: "${{ github.workspace }}/.ccache"
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v3
       - uses: 'ros-industrial/industrial_ci@master'
         env: # either pass all entries explicitly
           ROS_DISTRO: ${{ matrix.ROS_DISTRO }}
-          ROS_REPO: ${{ matrix.ROS_REPO }}
+          ROS_REPO: ${{ matrix.ROS_REPO }}
diff --git a/.../test_scenario_octomap_creation.launch.py → ...st_scenario_perception_pipeline.launch.py b/.../test_scenario_octomap_creation.launch.py → ...st_scenario_perception_pipeline.launch.py
@@ -199,10 +199,10 @@ def generate_launch_description():
             mongodb_server_node,
             # for https://github.com/ros-controls/ros2_controllers/issues/981
             RegisterEventHandler(
-                OnProcessStart(
+                OnProcessExit(
                     target_action=panda_arm_controller_spawner,
-                    on_start=[
-                        LogInfo(msg="Started panda_arm_controller_spawner"),
+                    on_exit=[
+                        LogInfo(msg="panda_arm_controller_spawner is finished. Now test_scenario_perception_pipeline will start"),
                         test_scenario_perception_pipeline_node,
                     ],
                 )

diff --git a/test/test_scenario_perception_pipeline.cpp b/test/test_scenario_perception_pipeline.cpp
@@ -10,15 +10,12 @@
 
 using moveit::planning_interface::MoveGroupInterface;
 
-// class MoveGroupServer {
-// };
-
 class ScenarioPerceptionPipeline
 {
 public:
   ScenarioPerceptionPipeline(std::shared_ptr<MoveGroupInterface>);
-  std::tuple<int, int> run_test_case(std::vector<geometry_msgs::msg::Pose> pose_list);
-  bool send_target_pose(geometry_msgs::msg::Pose target_pose);
+  std::tuple<int, int> runTestCase(const std::vector<geometry_msgs::msg::Pose>& pose_list);
+  bool sendTargetPose(const geometry_msgs::msg::Pose& target_pose);
 
 private:
   std::shared_ptr<MoveGroupInterface> move_group_interface_ptr_;
@@ -29,13 +26,13 @@ ScenarioPerceptionPipeline::ScenarioPerceptionPipeline(std::shared_ptr<MoveGroup
 {
 }
 
-std::tuple<int, int> ScenarioPerceptionPipeline::run_test_case(std::vector<geometry_msgs::msg::Pose> test_case)
+std::tuple<int, int> ScenarioPerceptionPipeline::runTestCase(const std::vector<geometry_msgs::msg::Pose>& test_case)
 {
   int success_number = 0;
   int failure_number = 0;
   for (auto& pose : test_case)
   {
-    bool is_successful = send_target_pose(pose);
+    bool is_successful = sendTargetPose(pose);
     if (is_successful)
       success_number++;
     else
@@ -45,7 +42,7 @@ std::tuple<int, int> ScenarioPerceptionPipeline::run_test_case(std::vector<geome
   return { success_number, failure_number };
 }
 
-bool ScenarioPerceptionPipeline::send_target_pose(geometry_msgs::msg::Pose target_pose)
+bool ScenarioPerceptionPipeline::sendTargetPose(const geometry_msgs::msg::Pose& target_pose)
 {
   move_group_interface_ptr_->setPoseTarget(target_pose);
 
@@ -69,20 +66,20 @@ class ScenarioPerceptionPipelineTestCaseCreator
   static inline std::vector<std::vector<geometry_msgs::msg::Pose>> test_cases_ = {};
 
 public:
-  static void create_test_cases()
+  static void createTestCases()
   {
     std::vector<geometry_msgs::msg::Pose> example_pose_list_;
 
     geometry_msgs::msg::Pose target_pose1_msg;
     target_pose1_msg.orientation.w = 1.0;
-    target_pose1_msg.position.x = -0.7;
-    target_pose1_msg.position.y = 0.0;
+    target_pose1_msg.position.x = 0.5;
+    target_pose1_msg.position.y = 0.5;
     target_pose1_msg.position.z = 0.5;
 
     geometry_msgs::msg::Pose target_pose2_msg;
     target_pose2_msg.orientation.w = 1.0;
-    target_pose2_msg.position.x = 0.4;
-    target_pose2_msg.position.y = 0.0;
+    target_pose2_msg.position.x = 0.5;
+    target_pose2_msg.position.y = -0.5;
     target_pose2_msg.position.z = 0.7;
 
     for (int i = 0; i < 10; i++)
@@ -94,7 +91,7 @@ class ScenarioPerceptionPipelineTestCaseCreator
     test_cases_.push_back(example_pose_list_);
   }
 
-  static std::vector<geometry_msgs::msg::Pose> select_test_case(size_t test_case_index)
+  static std::vector<geometry_msgs::msg::Pose> selectTestCases(size_t test_case_index)
   {
     return test_cases_.at(test_case_index);
   }
@@ -111,7 +108,7 @@ class ScenarioPerceptionPipelineFixture : public benchmark::Fixture
   ScenarioPerceptionPipelineFixture()
   {
     PLANNING_GROUP = "panda_arm";
-    ScenarioPerceptionPipelineTestCaseCreator::create_test_cases();
+    ScenarioPerceptionPipelineTestCaseCreator::createTestCases();
   }
 
   void SetUp(::benchmark::State& /*state*/)
@@ -136,11 +133,11 @@ class ScenarioPerceptionPipelineFixture : public benchmark::Fixture
 
 BENCHMARK_DEFINE_F(ScenarioPerceptionPipelineFixture, test_scenario_perception_pipeline)(benchmark::State& st)
 {
-  auto selected_test_case = ScenarioPerceptionPipelineTestCaseCreator::select_test_case(0);
+  auto selected_test_case = ScenarioPerceptionPipelineTestCaseCreator::selectTestCases(0);
   for (auto _ : st)
   {
     auto sc = ScenarioPerceptionPipeline(move_group_interface_ptr_);
-    sc.run_test_case(selected_test_case);
+    sc.runTestCase(selected_test_case);
   }
 }