Add unit tests for motion plan cache #28
Merged
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Signed-off-by: methylDragon <methylDragon@gmail.com>
Signed-off-by: methylDragon <methylDragon@gmail.com>
Signed-off-by: methylDragon <methylDragon@gmail.com>
methylDragon
force-pushed
the
ch3/plan-cache-tests
branch
2 times, most recently
from
488df63
to
fdf594c
Compare
Signed-off-by: methylDragon <methylDragon@gmail.com>
methylDragon
force-pushed
the
ch3/plan-cache-tests
branch
from
fdf594c
to
237fb50
Compare
Signed-off-by: methylDragon <methylDragon@gmail.com>
methylDragon
force-pushed
the
ch3/plan-cache-tests
branch
from
ed5ddfb
to
c461fd7
Compare
methylDragon
changed the title
methylDragon
force-pushed
the
ch3/plan-cache-tests
branch
from
81d5d6b
to
5458b01
Compare
Signed-off-by: methylDragon <methylDragon@gmail.com>
methylDragon
force-pushed
the
ch3/plan-cache-tests
branch
from
5458b01
to
bcbb978
Compare
koonpeng
requested changes
Nov 23, 2023
|
Still looking at the test contents. |
Signed-off-by: methylDragon <methylDragon@gmail.com>
Signed-off-by: methylDragon <methylDragon@gmail.com>
koonpeng
requested changes
Nov 24, 2023
Signed-off-by: methylDragon <methylDragon@gmail.com>
Signed-off-by: methylDragon <methylDragon@gmail.com>
Signed-off-by: methylDragon <methylDragon@gmail.com>
methylDragon
force-pushed
the
ch3/plan-cache-tests
branch
from
a235d20
to
841a7ca
Compare
Signed-off-by: methylDragon <methylDragon@gmail.com>
koonpeng
approved these changes
Nov 27, 2023
* Add force_cache_mode_execute_read_only Signed-off-by: methylDragon <methylDragon@gmail.com> * Add force_cache_mode_execute_read_only input port Signed-off-by: methylDragon <methylDragon@gmail.com> --------- Signed-off-by: methylDragon <methylDragon@gmail.com>
methylDragon
merged commit 1af731b
into
ch3/plan-cache-code-review-fixes
1 of 2 checks passed
methylDragon
added a commit
that referenced
this pull request
Nov 27, 2023
* Remove query appending macro Signed-off-by: methylDragon <methylDragon@gmail.com> * Default to warehouse_ros plugin if warehouse plugin isn't set Signed-off-by: methylDragon <methylDragon@gmail.com> * Return and use init result Signed-off-by: methylDragon <methylDragon@gmail.com> * Add todo for catching exceptions Signed-off-by: methylDragon <methylDragon@gmail.com> * Implement plan fetching with configurable key Signed-off-by: methylDragon <methylDragon@gmail.com> * Add comments for exact match tolerance Signed-off-by: methylDragon <methylDragon@gmail.com> * Slightly refactor put plan Signed-off-by: methylDragon <methylDragon@gmail.com> * Rename overwrite to delete_worse_plans Signed-off-by: methylDragon <methylDragon@gmail.com> * Split out motion plan cache into its own library Signed-off-by: methylDragon <methylDragon@gmail.com> * Sort constraints for reduced cardinality Signed-off-by: methylDragon <methylDragon@gmail.com> * Rename util function Signed-off-by: methylDragon <methylDragon@gmail.com> * Add todo for is_diff Signed-off-by: methylDragon <methylDragon@gmail.com> * Add unit tests for motion plan cache (#28) * Add count methods Signed-off-by: methylDragon <methylDragon@gmail.com> * Enable shared from this for cache class Signed-off-by: methylDragon <methylDragon@gmail.com> * Add unit test build rules Signed-off-by: methylDragon <methylDragon@gmail.com> * Add tests for motion plan cache (but not cartesian) Signed-off-by: methylDragon <methylDragon@gmail.com> * Fix bugs in cartesian caching Signed-off-by: methylDragon <methylDragon@gmail.com> * Add tests for cartesian plan cache Signed-off-by: methylDragon <methylDragon@gmail.com> * Exit if a test fails Signed-off-by: methylDragon <methylDragon@gmail.com> * Remove gtest import Signed-off-by: methylDragon <methylDragon@gmail.com> * Remove enable_shared_from_this Signed-off-by: methylDragon <methylDragon@gmail.com> * Only check for failure Signed-off-by: methylDragon <methylDragon@gmail.com> * Test half in-tolerance Signed-off-by: methylDragon <methylDragon@gmail.com> * Test different robot cache Signed-off-by: methylDragon <methylDragon@gmail.com> * Add force_cache_mode_execute_read_only (#29) * Add force_cache_mode_execute_read_only Signed-off-by: methylDragon <methylDragon@gmail.com> * Add force_cache_mode_execute_read_only input port Signed-off-by: methylDragon <methylDragon@gmail.com> --------- Signed-off-by: methylDragon <methylDragon@gmail.com> --------- Signed-off-by: methylDragon <methylDragon@gmail.com> --------- Signed-off-by: methylDragon <methylDragon@gmail.com>
Yadunund
pushed a commit
that referenced
this pull request
Dec 4, 2023
* Add cartesian plan caching interfaces Signed-off-by: methylDragon <methylDragon@gmail.com> * Add construct_get_cartesian_plan_request Signed-off-by: methylDragon <methylDragon@gmail.com> * Add goal query and metadata Signed-off-by: methylDragon <methylDragon@gmail.com> * Add start query and metadata Signed-off-by: methylDragon <methylDragon@gmail.com> * Implement top level cache ops Signed-off-by: methylDragon <methylDragon@gmail.com> * Use motion plan cache for cartesian plans Signed-off-by: methylDragon <methylDragon@gmail.com> * Allow mismatched plan frames since we coerce anyway Signed-off-by: methylDragon <methylDragon@gmail.com> * Fix move bug Signed-off-by: methylDragon <methylDragon@gmail.com> * Plan cache code review fixes (sans unit tests) (#26) * Remove query appending macro Signed-off-by: methylDragon <methylDragon@gmail.com> * Default to warehouse_ros plugin if warehouse plugin isn't set Signed-off-by: methylDragon <methylDragon@gmail.com> * Return and use init result Signed-off-by: methylDragon <methylDragon@gmail.com> * Add todo for catching exceptions Signed-off-by: methylDragon <methylDragon@gmail.com> * Implement plan fetching with configurable key Signed-off-by: methylDragon <methylDragon@gmail.com> * Add comments for exact match tolerance Signed-off-by: methylDragon <methylDragon@gmail.com> * Slightly refactor put plan Signed-off-by: methylDragon <methylDragon@gmail.com> * Rename overwrite to delete_worse_plans Signed-off-by: methylDragon <methylDragon@gmail.com> * Split out motion plan cache into its own library Signed-off-by: methylDragon <methylDragon@gmail.com> * Sort constraints for reduced cardinality Signed-off-by: methylDragon <methylDragon@gmail.com> * Rename util function Signed-off-by: methylDragon <methylDragon@gmail.com> * Add todo for is_diff Signed-off-by: methylDragon <methylDragon@gmail.com> * Add unit tests for motion plan cache (#28) * Add count methods Signed-off-by: methylDragon <methylDragon@gmail.com> * Enable shared from this for cache class Signed-off-by: methylDragon <methylDragon@gmail.com> * Add unit test build rules Signed-off-by: methylDragon <methylDragon@gmail.com> * Add tests for motion plan cache (but not cartesian) Signed-off-by: methylDragon <methylDragon@gmail.com> * Fix bugs in cartesian caching Signed-off-by: methylDragon <methylDragon@gmail.com> * Add tests for cartesian plan cache Signed-off-by: methylDragon <methylDragon@gmail.com> * Exit if a test fails Signed-off-by: methylDragon <methylDragon@gmail.com> * Remove gtest import Signed-off-by: methylDragon <methylDragon@gmail.com> * Remove enable_shared_from_this Signed-off-by: methylDragon <methylDragon@gmail.com> * Only check for failure Signed-off-by: methylDragon <methylDragon@gmail.com> * Test half in-tolerance Signed-off-by: methylDragon <methylDragon@gmail.com> * Test different robot cache Signed-off-by: methylDragon <methylDragon@gmail.com> * Add force_cache_mode_execute_read_only (#29) * Add force_cache_mode_execute_read_only Signed-off-by: methylDragon <methylDragon@gmail.com> * Add force_cache_mode_execute_read_only input port Signed-off-by: methylDragon <methylDragon@gmail.com> --------- Signed-off-by: methylDragon <methylDragon@gmail.com> --------- Signed-off-by: methylDragon <methylDragon@gmail.com> --------- Signed-off-by: methylDragon <methylDragon@gmail.com> --------- Signed-off-by: methylDragon <methylDragon@gmail.com>
Yadunund
pushed a commit
that referenced
this pull request
Jan 22, 2024
* Add motion plan cache Signed-off-by: methylDragon <methylDragon@gmail.com> * Switch to snake case for function names Signed-off-by: methylDragon <methylDragon@gmail.com> * Print cache fetch time and key plans on planned execution time Signed-off-by: methylDragon <methylDragon@gmail.com> * Add overwrite_worse_plans param Signed-off-by: methylDragon <methylDragon@gmail.com> * Fix plan fetching printout and don't recache fetched plans Signed-off-by: methylDragon <methylDragon@gmail.com> * Update only use cached plans parameter name Signed-off-by: methylDragon <methylDragon@gmail.com> * Add copyright headers and motion_planner namespace Signed-off-by: methylDragon <methylDragon@gmail.com> * Make motion_plan_cache a unique_ptr instead of shared_ptr Signed-off-by: methylDragon <methylDragon@gmail.com> * Set numerical precision Signed-off-by: methylDragon <methylDragon@gmail.com> * Use enum for planner database mode Signed-off-by: methylDragon <methylDragon@gmail.com> * Rename cache methods to prepare for cartesian caching Signed-off-by: methylDragon <methylDragon@gmail.com> * Add very important warning to cache class Signed-off-by: methylDragon <methylDragon@gmail.com> * Fix access after move bug Signed-off-by: methylDragon <methylDragon@gmail.com> * Remove internal cache node Signed-off-by: methylDragon <methylDragon@gmail.com> * Implement cartesian plan cache (#18) * Add cartesian plan caching interfaces Signed-off-by: methylDragon <methylDragon@gmail.com> * Add construct_get_cartesian_plan_request Signed-off-by: methylDragon <methylDragon@gmail.com> * Add goal query and metadata Signed-off-by: methylDragon <methylDragon@gmail.com> * Add start query and metadata Signed-off-by: methylDragon <methylDragon@gmail.com> * Implement top level cache ops Signed-off-by: methylDragon <methylDragon@gmail.com> * Use motion plan cache for cartesian plans Signed-off-by: methylDragon <methylDragon@gmail.com> * Allow mismatched plan frames since we coerce anyway Signed-off-by: methylDragon <methylDragon@gmail.com> * Fix move bug Signed-off-by: methylDragon <methylDragon@gmail.com> * Plan cache code review fixes (sans unit tests) (#26) * Remove query appending macro Signed-off-by: methylDragon <methylDragon@gmail.com> * Default to warehouse_ros plugin if warehouse plugin isn't set Signed-off-by: methylDragon <methylDragon@gmail.com> * Return and use init result Signed-off-by: methylDragon <methylDragon@gmail.com> * Add todo for catching exceptions Signed-off-by: methylDragon <methylDragon@gmail.com> * Implement plan fetching with configurable key Signed-off-by: methylDragon <methylDragon@gmail.com> * Add comments for exact match tolerance Signed-off-by: methylDragon <methylDragon@gmail.com> * Slightly refactor put plan Signed-off-by: methylDragon <methylDragon@gmail.com> * Rename overwrite to delete_worse_plans Signed-off-by: methylDragon <methylDragon@gmail.com> * Split out motion plan cache into its own library Signed-off-by: methylDragon <methylDragon@gmail.com> * Sort constraints for reduced cardinality Signed-off-by: methylDragon <methylDragon@gmail.com> * Rename util function Signed-off-by: methylDragon <methylDragon@gmail.com> * Add todo for is_diff Signed-off-by: methylDragon <methylDragon@gmail.com> * Add unit tests for motion plan cache (#28) * Add count methods Signed-off-by: methylDragon <methylDragon@gmail.com> * Enable shared from this for cache class Signed-off-by: methylDragon <methylDragon@gmail.com> * Add unit test build rules Signed-off-by: methylDragon <methylDragon@gmail.com> * Add tests for motion plan cache (but not cartesian) Signed-off-by: methylDragon <methylDragon@gmail.com> * Fix bugs in cartesian caching Signed-off-by: methylDragon <methylDragon@gmail.com> * Add tests for cartesian plan cache Signed-off-by: methylDragon <methylDragon@gmail.com> * Exit if a test fails Signed-off-by: methylDragon <methylDragon@gmail.com> * Remove gtest import Signed-off-by: methylDragon <methylDragon@gmail.com> * Remove enable_shared_from_this Signed-off-by: methylDragon <methylDragon@gmail.com> * Only check for failure Signed-off-by: methylDragon <methylDragon@gmail.com> * Test half in-tolerance Signed-off-by: methylDragon <methylDragon@gmail.com> * Test different robot cache Signed-off-by: methylDragon <methylDragon@gmail.com> * Add force_cache_mode_execute_read_only (#29) * Add force_cache_mode_execute_read_only Signed-off-by: methylDragon <methylDragon@gmail.com> * Add force_cache_mode_execute_read_only input port Signed-off-by: methylDragon <methylDragon@gmail.com> --------- Signed-off-by: methylDragon <methylDragon@gmail.com> --------- Signed-off-by: methylDragon <methylDragon@gmail.com> --------- Signed-off-by: methylDragon <methylDragon@gmail.com> --------- Signed-off-by: methylDragon <methylDragon@gmail.com> * Fix nullptr dereference Signed-off-by: methylDragon <methylDragon@gmail.com> * Fix and add motion planner server tests (#30) * Fix and add motion planner server tests Signed-off-by: methylDragon <methylDragon@gmail.com> * Add test deps Signed-off-by: methylDragon <methylDragon@gmail.com> * Add motion planner server test to CI Signed-off-by: methylDragon <methylDragon@gmail.com> --------- Signed-off-by: methylDragon <methylDragon@gmail.com> --------- Signed-off-by: methylDragon <methylDragon@gmail.com>
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Description
Built on top of #26 (and all its parents)
Adds comprehensive tests for motion and cartesian plan caching.
The testing uncovered some small bugs which are also fixed in this PR.
Run tests using:
Notes
I apologize in advance for the way I'm doing the testing. Since we need move_group to run, we need launch tests. I tried to make it as neat as possible.
Also I figured using robot descriptions in MoveIt would be best.
Not much way around it if we want easy assertions to bubble up if tests fail.