Skip to content

Fixes pilz tests#3095

Merged
sjahr merged 2 commits intomoveit:mainfrom
riv-tnoble:patch-1
Nov 15, 2024
Merged

Fixes pilz tests#3095
sjahr merged 2 commits intomoveit:mainfrom
riv-tnoble:patch-1

Conversation

@riv-tnoble
Copy link
Contributor

@riv-tnoble riv-tnoble commented Nov 15, 2024 •
edited
Loading

Description

This fixes an issue in some of the pilz tests introduced by #3077.

Instead of passing an empty map of subframes, we were passing a one-item map containing an empty pair, which was causing test errors when validating subframe isometries.

This is fixed by adding some explicit subframes to every such test, with the ones that are unused named as such for clarity.

Checklist

  • Required by CI: Code is auto formatted using clang-format
  • Extend the tutorials / documentation reference
  • Document API changes relevant to the user in the MIGRATION.md notes
  • Create tests, which fail without this PR reference
  • Include a screenshot if changing a GUI
  • While waiting for someone to review your request, please help review another open pull request to support the maintainers

@riv-tnoble
Copy link
Contributor Author

riv-tnoble commented Nov 15, 2024

This one doesn't need backporting to humble, and I'll fix the iron tests along with the conflicts

@sjahr sjahr enabled auto-merge November 15, 2024 11:48
@sjahr sjahr added this pull request to the merge queue Nov 15, 2024
github-merge-queue bot pushed a commit that referenced this pull request Nov 15, 2024
@riv-tnoble
Fixes pilz tests (#3095)
11ad4a9
@riv-tnoble riv-tnoble mentioned this pull request Nov 15, 2024
Merged
6 tasks
@github-merge-queue github-merge-queue bot removed this pull request from the merge queue due to no response for status checks Nov 15, 2024
@riv-tnoble
Copy link
Contributor Author

riv-tnoble commented Nov 15, 2024 •
edited
Loading 

    [ RUN      ] OneRobot.testInterpolation
    Error:   Group 'base_with_bad_subgroups' has unsatisfied subgroups
             at line 304 in /home/runner/work/moveit2/moveit2/.work/upstream_ws/src/srdfdom/src/model.cpp
    [INFO] [1731678157.056808164] [moveit_4232960088.moveit.core.robot_model]: Loading robot model 'one_robot'...
Error: ROR] [1731678157.057078035] [moveit_4232960088.moveit_exception]: Interpolation parameter is NaN or inf.
    Exception thrown.
    Caught expected exception: Interpolation parameter is NaN or inf.
    [       OK ] OneRobot.testInterpolation (0 ms)
    [ RUN      ] OneRobot.rigidlyConnectedParent
    Error:   Group 'base_with_bad_subgroups' has unsatisfied subgroups
             at line 304 in /home/runner/work/moveit2/moveit2/.work/upstream_ws/src/srdfdom/src/model.cpp
    [INFO] [1731678157.057574818] [moveit_4232960088.moveit.core.robot_model]: Loading robot model 'one_robot'...
    [WARN] [1731678157.057735227] [moveit_4232960088.moveit.core.robot_state]: Returning dirty link transforms
    test_robot_state: /home/runner/work/moveit2/moveit2/.work/target_ws/src/moveit2/moveit_core/robot_state/src/robot_state.cpp:1309: const Eigen::Isometry3d& moveit::core::RobotState::getFrameInfo(const std::string&, const moveit::core::LinkModel*&, bool&) const: Assertion `checkLinkTransforms()' failed.

These failures seem unrelated to this PR as they're from moveit_core. I might suspect the original -- #3077 -- again, but that PR changes the implementation of setFromIK(), not getRigidlyConnectedParent(), or getFrameInfo(), which those tests appear to be calling directly. In particular, I wonder if the latter failure is an example of #3089 🤔

@riv-tnoble
Copy link
Contributor Author

riv-tnoble commented Nov 15, 2024 •
edited
Loading

@sjar @sea-bass PRs before #3077 also have shown the same errors (e.g. https://github.com/moveit/moveit2/actions/runs/11701726753/job/32588415027 and https://github.com/moveit/moveit2/actions/runs/11540595594/job/32121612716)

Could this PR be added to the queue again?

@sjahr sjahr enabled auto-merge November 15, 2024 16:03
@sjahr sjahr added this pull request to the merge queue Nov 15, 2024
Merged via the queue into moveit:main with commit ce78cc4 Nov 15, 2024
@TSNoble TSNoble mentioned this pull request Nov 18, 2024
Open
@riv-tnoble riv-tnoble deleted the patch-1 branch November 24, 2024 08:47
Markus-Simonsen pushed a commit to Markus-Simonsen/moveit2 that referenced this pull request Aug 12, 2025
@riv-tnoble @sjahr
Fixes pilz tests (moveit#3095)
e815f06 
Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai>
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment

Reviewers

@sjahr sjahr sjahr approved these changes

+1 more reviewer

@sea-bass sea-bass sea-bass approved these changes

Reviewers whose approvals may not affect merge requirements

Assignees

No one assigned

Labels

None yet

Projects

None yet

Milestone

No milestone

Development

Successfully merging this pull request may close these issues.

3 participants

@riv-tnoble @sea-bass @sjahr