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Add Moveit startup tests #913

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@fmauch fmauch commented Jan 25, 2024

This should help us finding Moveit related errors like the one fixed in #906 earlier.

ToDo:

  • Add basic startup test
  • [ ] Fix servo_node startup (the test should fail for now, since that is actually broken)
  • Add MoveIt! to semi-binary builds

@fmauch fmauch force-pushed the test_moveit_startup branch from ee880c2 to 512c24b Compare January 25, 2024 20:01
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fmauch commented Jan 25, 2024

I could not get the servo node running correctly, which is why I would suggest taking fixing this out of this PR. Maybe we don't even put 7619306 in here?

@fmauch fmauch marked this pull request as ready for review January 25, 2024 20:10
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CalaW commented Jan 27, 2024

I think we should rewrite the whole ur_servo.yaml according to https://github.com/ros-planning/moveit2/blob/d56a8b9464b1a6e026ceeb70485892c69fd5100a/moveit_ros/moveit_servo/config/servo_parameters.yaml. Seems they did a major refactor on moveit_servo and lots of servo parameters are deprecated

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CalaW commented Jan 27, 2024

Also I tested servo on both URSim and a real UR5, with same changes in 7619306. It worked well!

fmauch added 7 commits May 7, 2024 13:30
This is a basic test that verifies that all Nodes come up correctly without crashing.
This makes it start but I couldn't get the robot moving.
The servo_node currently doesn't startup correctly until a plan is executed.
Also enabled CCache, since building MoveIt takes a very long time otherwise.
@VinDp VinDp force-pushed the test_moveit_startup branch from 99bfdc9 to cb219a0 Compare May 7, 2024 11:30
@fmauch fmauch self-assigned this May 13, 2024
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3 participants