测试

本节介绍如何在各种机器人上测试对 MoveIt 的修改，涵盖单元测试和集成测试。

注意：这是一篇占位教程（stub tutorial），未来将进行扩充。

入门

如果尚未完成，请先完成 Getting Started 中的步骤。

集成测试

MoveIt 提供了一个基于 Python 的集成测试，用于测试更高层级的 move_group 功能。运行方式如下：

rostest moveit_ros_planning_interface python_move_group.test

测试机器人

Panda

来自 panda_moveit_config 软件包：

roslaunch panda_moveit_config demo.launch

Fanuc M-10iA

来自 moveit_resources 软件包：

roslaunch moveit_resources demo.launch

单元测试

编写单元测试

完整的测试文件（含所有 include）可以在 moveit_tutorials GitHub 项目的此处查看。

MoveIt 使用 Google Test 作为测试框架。

// Google Test has two kinds of testing functions. The first, *TEST*, simply runs the code inside.
// It takes two names: the name of the test case, also called a test suite, which is a group of several tests that are
// all related to the same component, and the name of the test.
// To actually check that your code does what is expected, you can add assertions.
// ASSERT will stop the test if it fails, and EXPECT will continue running, although the test will still fail.

TEST(MyFirstTestCase, TestName)
{
  int x = 0;
  x = 5 * 10 + 4;

  ASSERT_NE(x, 0); /* NE is 'not equal' */
  EXPECT_EQ(x, 54);
}

// A Test Fixture loads the same data repeatedly for multiple tests, so common setup code doesn't have to be duplicated.
// To make a test fixture, first make a class that derives from ::testing::Test.
// You can use either the constructor or SetUp to load the information.
// Let's use MoveIt's testing utilities to load a robot model.

class MyTestFixture : public ::testing::Test
{
  /* Everything in the class can be protected:. */
protected:
  void SetUp() override
  {
    robot_model_ = moveit::core::loadTestingRobotModel("panda");
  }

  /* If you need to cleanup the resources any tests are using, you can do it in TearDown(). */
  void TearDown() override
  {
  }

  moveit::core::RobotModelConstPtr robot_model_;
};

// To make a test that uses the data loaded by this fixture, use TEST_F.
TEST_F(MyTestFixture, InitOK)
{
  ASSERT_EQ(robot_model_->getURDF()->getName(), "panda");
  ASSERT_EQ(robot_model_->getSRDF()->getName(), "panda");
}

// MoveIt also provides a RobotModelBuilder class that helps you build simple robots with the link and joint structure
// that you need for a specific test.
// Let's make a robot that has one branch, making a Y shape.

TEST(MyFirstTestCase, SimpleYRobot)
{
  moveit::core::RobotModelBuilder builder("one_robot", "base_link");
  builder.addChain("base_link->a", "continuous");
  builder.addChain("a->b->c", "fixed");
  builder.addChain("a->d", "fixed");
  builder.addChain("d->e", "continuous");
  builder.addVirtualJoint("odom", "base_link", "planar", "base_joint");
  builder.addGroup({}, { "base_joint" }, "base_joint");
  ASSERT_TRUE(builder.isValid());
  moveit::core::RobotModelConstPtr robot_model = builder.build();

  /* Let's check that the link c is rigidly connected to link d, as it should be. */
  const moveit::core::LinkTransformMap transforms = robot_model->getLinkModel("c")->getAssociatedFixedTransforms();
  auto maybe_link_d = transforms.find(robot_model->getLinkModel("d"));
  ASSERT_NE(maybe_link_d, transforms.end());
}

int main(int argc, char** argv)
{
  testing::InitGoogleTest(&argc, argv);
  return RUN_ALL_TESTS();
}

运行单元测试

要使用 catkin-tools 在本地对整个 MoveIt catkin 工作空间运行单元测试，执行以下命令：

catkin run_tests -iv

只对单个软件包运行测试：

catkin run_tests --no-deps --this -iv

减少测试过程中的日志输出：

catkin run_tests --no-status --summarize --no-deps --this

代码覆盖率

代码覆盖率衡量的是运行测试套件时被执行的代码行数。要汇总统计信息并生成 HTML 格式的覆盖率报告，请在不进行优化的情况下构建代码，并运行特殊的 _coverage 目标：

sudo apt install ros-noetic-code-coverage
catkin config --cmake-args -DENABLE_COVERAGE_TESTING=ON -DCMAKE_BUILD_TYPE=Debug
catkin build
catkin build moveit_core -v --no-deps --catkin-make-args moveit_core_coverage

输出会指示覆盖率报告的位置，效果与下图类似：