Closed beatrizleon closed 9 years ago
It would need to be generalised to test the left arm as well. For this you probably should create a new sr_multi_moveit_test package in sr_multi_moveit directory. Then run the same test on both configurations.
Happy to merge once it's testing left arm too.
Added unit test to motion planners.
Tested multiple trajectories on an empty environment. Checking it is not planning when in self-collision. Also tested trajectories when adding walls and ground. Checking it is not planning when in collision with goals or ground. Added a function to test to plan to move each joint but it was causing some planners to fail due to lasting too much so it is commented.
Testing 9 planners takes aprox 4 min.
Still missing to find a way to increase the planning attempts because some trajectories sometimes fail and it does not try to plan again.