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moveit / moveit_ikfast

THIS REPO HAS MOVED TO https://github.com/ros-planning/moveit
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Create tests for IKFast #47

Open davetcoleman opened 9 years ago

davetcoleman commented 9 years ago

It would be nice if we had tests for this component of MoveIt!, as suggested in https://github.com/ros-planning/moveit_core/pull/216

gavanderhoorn commented 9 years ago

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 ros-planning/moveit_core#216 afaict, so that wouldn't give us much.

sachinchitta commented 9 years ago

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 commented 9 years ago

ROS<->IKFast interface

Yep.