Cleanup unit tests

- Unify move_to.launch.py and test_task_model.launch.py
- Rename them to test.launch.py as they are independent of the executable
- Move Node creation to the fixture constructor
- Replace Task::setRobotModel(loadModel()) with Task::loadRobotModel()

Author: rhaschke

core/test/CMakeLists.txt

@@ -54,8 +54,8 @@ if (BUILD_TESTING)
 	mtc_add_gmock(test_cost_queue.cpp)
 	mtc_add_gmock(test_interface_state.cpp)
 
-	mtc_add_gtest(test_move_to.cpp move_to.launch.py)
-	mtc_add_gtest(test_move_relative.cpp move_to.launch.py)
+	mtc_add_gtest(test_move_to.cpp test.launch.py)
+	mtc_add_gtest(test_move_relative.cpp test.launch.py)
 	mtc_add_gtest(test_pipeline_planner.cpp)
 
 	# building these integration tests works without moveit config packages

core/test/models.cpp

@@ -17,8 +17,3 @@ RobotModelPtr getModel() {
 	builder.addEndEffector("eef", "link2", "group", "eef_group");
 	return builder.build();
 }
-
-moveit::core::RobotModelPtr loadModel(const rclcpp::Node::SharedPtr& node) {
-	robot_model_loader::RobotModelLoader loader(node);
-	return loader.getModel();
-}

core/test/models.h

@@ -11,6 +11,3 @@ MOVEIT_CLASS_FORWARD(RobotModel);
 
 // get a hard-coded model
 moveit::core::RobotModelPtr getModel();
-
-// load a model from robot_description
-moveit::core::RobotModelPtr loadModel(const rclcpp::Node::SharedPtr& node);

core/test/move_to.launch.py renamed to core/test/test.launch.py

@@ -26,18 +26,18 @@ struct PandaMoveRelative : public testing::Test
 	Task t;
 	stages::MoveRelative* move;
 	PlanningScenePtr scene;
-	rclcpp::Node::SharedPtr node = rclcpp::Node::make_shared("panda_move_relative");
+	rclcpp::Node::SharedPtr node;
 
 	const JointModelGroup* group;
 
 	PandaMoveRelative() {
-		t.setRobotModel(loadModel(node));
+		t.loadRobotModel(rclcpp::Node::make_shared("panda_move_relative"));
 
 		group = t.getRobotModel()->getJointModelGroup("panda_arm");
 
 		scene = std::make_shared<PlanningScene>(t.getRobotModel());
 		scene->getCurrentStateNonConst().setToDefaultValues();
-		scene->getCurrentStateNonConst().setToDefaultValues(t.getRobotModel()->getJointModelGroup("panda_arm"), "ready");
+		scene->getCurrentStateNonConst().setToDefaultValues(group, "ready");
 		t.add(std::make_unique<stages::FixedState>("start", scene));
 
 		auto move_relative = std::make_unique<stages::MoveRelative>("move", std::make_shared<solvers::CartesianPath>());

core/test/test_move_relative.cpp

@@ -34,20 +34,22 @@ struct PandaMoveTo : public testing::Test
 	Task t;
 	stages::MoveTo* move_to;
 	PlanningScenePtr scene;
-	rclcpp::Node::SharedPtr node = rclcpp::Node::make_shared("panda_move_to");
+	rclcpp::Node::SharedPtr node;
 
 	PandaMoveTo() {
+		node = rclcpp::Node::make_shared("panda_move_to");
 		t.loadRobotModel(node);
 
+		auto group = t.getRobotModel()->getJointModelGroup("panda_arm");
+
 		scene = std::make_shared<PlanningScene>(t.getRobotModel());
 		scene->getCurrentStateNonConst().setToDefaultValues();
-		scene->getCurrentStateNonConst().setToDefaultValues(t.getRobotModel()->getJointModelGroup("panda_arm"),
-		                                                    "extended");
+		scene->getCurrentStateNonConst().setToDefaultValues(group, "extended");
 		t.add(std::make_unique<stages::FixedState>("start", scene));
 
 		auto move = std::make_unique<stages::MoveTo>("move", std::make_shared<solvers::JointInterpolationPlanner>());
 		move_to = move.get();
-		move_to->setGroup("panda_arm");
+		move_to->setGroup(group->getName());
 		t.add(std::move(move));
 	}
 };
@@ -162,7 +164,7 @@ TEST_F(PandaMoveTo, poseIKFrameAttachedSubframeTarget) {
 // will strongly deviate from the joint-space goal.
 TEST(Panda, connectCartesianBranchesFails) {
 	Task t;
-	t.setRobotModel(loadModel(rclcpp::Node::make_shared("panda_move_to")));
+	t.loadRobotModel(rclcpp::Node::make_shared("panda_move_to"));
 	auto scene = std::make_shared<PlanningScene>(t.getRobotModel());
 	scene->getCurrentStateNonConst().setToDefaultValues();
 	scene->getCurrentStateNonConst().setToDefaultValues(t.getRobotModel()->getJointModelGroup("panda_arm"), "ready");

core/test/test_move_to.cpp

@@ -19,6 +19,6 @@ if (BUILD_TESTING)
 	ament_add_gtest_executable(${PROJECT_NAME}-test-task_model test_task_model.cpp)
 	target_link_libraries(${PROJECT_NAME}-test-task_model
 		motion_planning_tasks_rviz_plugin)
-	add_launch_test(test_task_model.launch.py
-		ARGS "test_binary_dir:=$<TARGET_FILE_DIR:${PROJECT_NAME}-test-task_model>")
+	add_launch_test(test.launch.py
+		ARGS "test_binary:=$<TARGET_FILE:${PROJECT_NAME}-test-task_model>")
 endif()

visualization/motion_planning_tasks/test/CMakeLists.txt

@@ -13,36 +13,29 @@
 
 @pytest.mark.launch_test
 def generate_test_description():
-    test_task_model = GTest(
-        path=[
-            PathJoinSubstitution(
-                [
-                    LaunchConfiguration("test_binary_dir"),
-                    "moveit_task_constructor_visualization-test-task_model",
-                ]
-            )
-        ],
+    test_exec = GTest(
+        path=[LaunchConfiguration("test_binary")],
         output="screen",
     )
     return (
         LaunchDescription(
             [
                 DeclareLaunchArgument(
-                    name="test_binary_dir",
-                    description="Binary directory of package containing test executables",
+                    name="test_binary",
+                    description="Test executable",
                 ),
-                test_task_model,
+                test_exec,
                 KeepAliveProc(),
                 ReadyToTest(),
             ]
         ),
-        {"test_task_model": test_task_model},
+        {"test_exec": test_exec},
     )
 
 
 class TestTerminatingProcessStops(unittest.TestCase):
-    def test_gtest_run_complete(self, proc_info, test_task_model):
-        proc_info.assertWaitForShutdown(process=test_task_model, timeout=4000.0)
+    def test_gtest_run_complete(self, proc_info, test_exec):
+        proc_info.assertWaitForShutdown(process=test_exec, timeout=4000.0)
 
 
 @launch_testing.post_shutdown_test()