I have some tests written for a class that converts group joint states retrieved from the SRDF to tesseract_planning::JointWaypoint. As the order of the join_names matters for the JointWaypoint, I had to adjust the conversion code. I now retrieve the joint_names to tell me the correct order. (Related issue: https://github.com/tesseract-robotics/tesseract_planning/issues/454)
For the test, I used the URDF and SRDF of the ABB IRB2400 provided by tesseract_support as these are already available and contain all the info I need.
Below is a minimal example of the 'test' I have written. where I replaced the 'expect' and 'assert' statements with print statements:
I have some tests written for a class that converts group joint states retrieved from the SRDF to
tesseract_planning::JointWaypoint
. As the order of thejoin_names
matters for theJointWaypoint
, I had to adjust the conversion code. I now retrieve thejoint_names
to tell me the correct order. (Related issue: https://github.com/tesseract-robotics/tesseract_planning/issues/454)For the test, I used the URDF and SRDF of the ABB IRB2400 provided by
tesseract_support
as these are already available and contain all the info I need.Below is a minimal example of the 'test' I have written. where I replaced the 'expect' and 'assert' statements with print statements:
Received output:
Expected output:
Note: as the group joint states are saved in an
std::unorderd_map
, the order in which the print can change.