moveit_core test failures

[LanderU]

build/moveit_core/Testing/20190523-0142/Test.xml: 17 tests, 0 errors, 11 failures, 0 skipped
build/moveit_core/test_results/moveit_core/test_aabb.gtest.xml: 1 test, 0 errors, 1 failure, 0 skipped
build/moveit_core/test_results/moveit_core/test_collision_distance_field.gtest.xml: 1 test, 0 errors, 1 failure, 0 skipped
build/moveit_core/test_results/moveit_core/test_constraint_samplers.gtest.xml: 1 test, 0 errors, 1 failure, 0 skipped
build/moveit_core/test_results/moveit_core/test_constraints.gtest.xml: 1 test, 0 errors, 1 failure, 0 skipped
build/moveit_core/test_results/moveit_core/test_distance_field.gtest.xml: 1 test, 0 errors, 1 failure, 0 skipped
build/moveit_core/test_results/moveit_core/test_fcl_collision_detection.gtest.xml: 1 test, 0 errors, 1 failure, 0 skipped
build/moveit_core/test_results/moveit_core/test_moveit_robot_model.gtest.xml: 1 test, 0 errors, 1 failure, 0 skipped
build/moveit_core/test_results/moveit_core/test_planning_scene.gtest.xml: 6 tests, 0 errors, 6 failures, 0 skipped
build/moveit_core/test_results/moveit_core/test_robot_state_benchmark.gtest.xml: 1 test, 0 errors, 1 failure, 0 skipped
build/moveit_core/test_results/moveit_core/test_robot_state_complex.gtest.xml: 1 test, 0 errors, 1 failure, 0 skipped
build/moveit_core/test_results/moveit_core/test_time_parameterization.gtest.xml: 1 test, 0 errors, 1 failure, 0 skipped

After re-enable CI for dashing, I'm getting the following test errors.

@anasarrak, could you please have a look?

[anasarrak]

I've managed to solve some of the test errors, the problem was the moveit_resources cmakelist, the path where it was including them was incorrect. I've made a PR that solves the path, and now most of them works.

With the remaining tests, some of them are fixed manually and the others when running colcon test_result we can see them as errors, but launching them manually they seem to pass.

erle@kaladin:~/myfiles/github/moveitmaster$ colcon test-result
build/moveit_core/Testing/20190524-0906/Test.xml: 17 tests, 0 errors, 8 failures, 0 skipped
build/moveit_core/test_results/moveit_core/test_aabb.gtest.xml: 1 test, 0 errors, 1 failure, 0 skipped
build/moveit_core/test_results/moveit_core/test_collision_distance_field.gtest.xml: 1 test, 0 errors, 1 failure, 0 skipped
build/moveit_core/test_results/moveit_core/test_constraint_samplers.gtest.xml: 1 test, 0 errors, 1 failure, 0 skipped
build/moveit_core/test_results/moveit_core/test_constraints.gtest.xml: 1 test, 0 errors, 1 failure, 0 skipped
build/moveit_core/test_results/moveit_core/test_distance_field.gtest.xml: 1 test, 0 errors, 1 failure, 0 skipped
build/moveit_core/test_results/moveit_core/test_fcl_collision_detection.gtest.xml: 1 test, 0 errors, 1 failure, 0 skipped
build/moveit_core/test_results/moveit_core/test_planning_scene.gtest.xml: 1 test, 0 errors, 1 failure, 0 skipped
build/moveit_core/test_results/moveit_core/test_robot_state_benchmark.gtest.xml: 1 test, 0 errors, 1 failure, 0 skipped

Summary: 52 tests, 0 errors, 16 failures, 0 skipped

Launching test_collision_distance_field manually: the above output says that it has an error, the below one every single test passes, it takes a looot of time to complete, and this might cause the error. I'm trying to debug it.

erle@kaladin:~/myfiles/github/moveitmaster$ ./build/moveit_core/collision_distance_field/test_collision_distance_field
[==========] Running 6 tests from 1 test case.
[----------] Global test environment set-up.
[----------] 6 tests from DistanceFieldCollisionDetectionTester
[ RUN      ] DistanceFieldCollisionDetectionTester.DefaultNotInCollision
[INFO] [robot_model]: Loading robot model 'pr2'...
[       OK ] DistanceFieldCollisionDetectionTester.DefaultNotInCollision (19758 ms)
[ RUN      ] DistanceFieldCollisionDetectionTester.ChangeTorsoPosition
[INFO] [robot_model]: Loading robot model 'pr2'...
[WARN] [moveit.collision_distance_field]: State for Variable torso_lift_joint has changed by  radians
[       OK ] DistanceFieldCollisionDetectionTester.ChangeTorsoPosition (27424 ms)
[ RUN      ] DistanceFieldCollisionDetectionTester.LinksInCollision
[INFO] [robot_model]: Loading robot model 'pr2'...
[       OK ] DistanceFieldCollisionDetectionTester.LinksInCollision (24800 ms)
[ RUN      ] DistanceFieldCollisionDetectionTester.ContactReporting
[INFO] [robot_model]: Loading robot model 'pr2'...
[       OK ] DistanceFieldCollisionDetectionTester.ContactReporting (22794 ms)
[ RUN      ] DistanceFieldCollisionDetectionTester.ContactPositions
[INFO] [robot_model]: Loading robot model 'pr2'...
[       OK ] DistanceFieldCollisionDetectionTester.ContactPositions (19908 ms)
[ RUN      ] DistanceFieldCollisionDetectionTester.AttachedBodyTester
[INFO] [robot_model]: Loading robot model 'pr2'...
[       OK ] DistanceFieldCollisionDetectionTester.AttachedBodyTester (39240 ms)
[----------] 6 tests from DistanceFieldCollisionDetectionTester (153924 ms total)

[----------] Global test environment tear-down
[==========] 6 tests from 1 test case ran. (153924 ms total)
[  PASSED  ] 6 tests.