moveit_ros/hybrid_planning/test/test_basic_integration.cpp
TEST_F(HybridPlanningFixture, ActionCompletion)
{
  std::thread run_thread([this]() {
    // Send the goal
    auto goal_handle_future = hp_action_client_->async_send_goal(goal_action_request_, send_goal_options_);
  });

  rclcpp::Rate rate(10);
  while (!action_complete_)
  {
    executor_.spin_once();
    rate.sleep();
  }
  run_thread.join();
  ASSERT_TRUE(action_successful_);
}
// Make a hybrid planning request and verify it completes
Make a hybrid planning request and verify it completes
Make a hybrid planning request and verify it completes
TEST_F(HybridPlanningFixture, ActionCompletion)
{
  std::thread run_thread([this]() {
    auto goal_handle_future = hp_action_client_->async_send_goal(goal_action_request_, send_goal_options_);
  });
  rclcpp::Rate rate(10);
  while (!action_complete_)
  {
    executor_.spin_once();
    rate.sleep();
  }
  run_thread.join();
  ASSERT_TRUE(action_successful_);
}
TEST_F ( HybridPlanningFixture , ActionCompletion ) { std :: thread run_thread ( [ this ] ( ) { auto goal_handle_future = hp_action_client_ -> async_send_goal ( goal_action_request_ , send_goal_options_ ) ; } ) ; rclcpp :: Rate rate ( 10 ) ; while ( ! action_complete_ ) { executor_ . spin_once ( ) ; rate . sleep ( ) ; } run_thread . join ( ) ; ASSERT_TRUE ( action_successful_ ) ; }
Make a hybrid planning request and verify it completes
Make a hybrid planning request and verify it completes
// Send the goal