81 lines
2.4 KiB
Python
81 lines
2.4 KiB
Python
# Copyright (c) 2023 Franka Robotics GmbH
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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from os import path
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import xacro
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from ament_index_python.packages import get_package_share_directory
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arm_id_ = "fer"
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xacro_file_name = path.join(
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get_package_share_directory("moonshot_franka_description"),
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"robots",
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arm_id_,
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arm_id_ + ".urdf.xacro",
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)
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def test_load():
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"""Test of hand parameter equal to none."""
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urdf = xacro.process_file(
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xacro_file_name,
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mappings={
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"arm_id": "fer",
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"ee_id": "none",
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},
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).toxml()
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assert urdf.find("fer_finger_joint1") == -1
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def test_load_with_gripper():
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"""Test of hand parameter equal to a value."""
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urdf = xacro.process_file(
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xacro_file_name, mappings={"arm_id": "fer", "ee_id": "franka_hand"}
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).toxml()
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assert urdf.find("fer_finger_joint") != -1
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def test_check_interfaces():
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"""Test of the parameters for ros2_control hardware interface."""
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urdf = xacro.process_file(
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xacro_file_name, mappings={"ros2_control": "true"}
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).toxml()
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assert urdf.find("state_interface") != -1
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assert urdf.find("command_interface") != -1
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assert urdf.find("position") != -1
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assert urdf.find("velocity") != -1
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assert urdf.find("effort") != -1
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def test_load_with_fake_hardware():
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"""Test of use_fake_hardware parameter for ros2_control hardware interface."""
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urdf = xacro.process_file(
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xacro_file_name, mappings={"ros2_control": "true", "use_fake_hardware": "true"}
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).toxml()
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assert urdf.find("fake_components/GenericSystem") != -1
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def test_load_with_robot_ip():
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"""Test of robot_ip parameter for ros2_control hardware interface."""
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urdf = xacro.process_file(
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xacro_file_name,
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mappings={"ros2_control": "true", "robot_ip": "franka_ip_address"},
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).toxml()
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assert urdf.find("franka_ip_address") != -1
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if __name__ == "__main__":
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pass
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