<?xml version="1.0"?>

<launch>

<!-- This test file serves both, the standard KDL solver and the LMA solver -->

<arg name="ik_plugin" default="kdl_kinematics_plugin/KDLKinematicsPlugin"/>

<arg name="tolerance" default="1e-5"/>

<arg name="name" value="$(eval 'panda_' + arg('ik_plugin')[0:3])"/>

<group ns="panda">

<include file="$(find moveit_resources_panda_moveit_config)/launch/planning_context.launch">

<arg name="load_robot_description" value="true"/>

</include>

<param name="root_link" value="panda_link0"/>

<param name="tip_link" value="panda_link8"/>

<param name="group" value="panda_arm"/>

<param name="ik_timeout" value="0.2"/>

<param name="tolerance" value="$(arg tolerance)"/>

<rosparam param="joint_names">[panda_joint1, panda_joint2, panda_joint3, panda_joint4, panda_joint5, panda_joint6, panda_joint7]</rosparam>

<!-- KDL-specific solver parameters -->

<param name="ik_plugin_name" value="$(arg ik_plugin)"/>

<param name="robot_description_kinematics/panda_arm/max_solver_iterations" value="100"/>

<!-- by default disable all tests: enable selectively with private parameters -->

<param name="num_fk_tests" value="0"/>

<param name="num_ik_tests" value="0"/>

<param name="num_ik_cb_tests" value="0"/>

<param name="num_ik_multiple_tests" value="0"/>

<param name="num_nearest_ik_tests" value="0"/>

<test test-name="$(arg name)" pkg="moveit_kinematics" type="test_kinematics_plugin" time-limit="180">

<!-- enable basic FK and IK tests -->

<param name="num_fk_tests" value="100"/>

<param name="num_ik_tests" value="100"/>

<!-- use a non-singular seed -->

<rosparam param="seed">[-0.5, -0.5, 0.3, -2, 0.8, 1.8, 1.9]</rosparam>

<rosparam param="consistency_limits">[0.4, 0.4, 0.4, 0.4, 0.4, 0.4, 0.4]</rosparam>

</test>

<test test-name="$(arg name)_singular" pkg="moveit_kinematics" type="test_kinematics_plugin" time-limit="180">

<param name="ik_timeout" value="1.0"/>

<rosparam param="seed">[0, 0, 0, 0, 0, 0, 0]</rosparam> <!-- zero pose is singular -->

<rosparam param="unit_tests">

- pos.z: -0.1

</rosparam>

</test>

</group>

</launch>