[ROS-O] Fix Pilz unit tests (moveit#3561)

* Avoid double-free of KDL::RotationalInterpolation in KDL >= 1.4.1 The underlying memory leak was fixed in KDL with orocos/orocos_kinematics_dynamics#180 * Decrease accuracy of quaternion check
ubi-agni · Feb 6, 2024 · 95dd7fb · 95dd7fb
1 parent 62ff197
commit 95dd7fb
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Showing 2 changed files with 10 additions and 6 deletions.
diff --git a/moveit_planners/pilz_industrial_motion_planner/src/path_circle_generator.cpp b/moveit_planners/pilz_industrial_motion_planner/src/path_circle_generator.cpp
@@ -65,8 +65,10 @@ std::unique_ptr<KDL::Path> PathCircleGenerator::circleFromCenter(const KDL::Fram
   }
   catch (KDL::Error_MotionPlanning&)
   {
-    delete rot_interpo;  // in case we could not construct the Path object, avoid
-                         // a memory leak
+#if KDL_VERSION < ((1 << 16) | (4 << 8) | 1)  // older than 1.4.1 ?
+    delete rot_interpo;                       // in case we could not construct the Path object,
+                                              // avoid a memory leak
+#endif
     KDL::epsilon = old_kdl_epsilon;
     throw;  // and pass the exception on to the caller
   }
@@ -132,9 +134,11 @@ std::unique_ptr<KDL::Path> PathCircleGenerator::circleFromInterim(const KDL::Fra
                                       // above,
                                       // we keep these lines to be safe
   {
-    delete rot_interpo;  // in case we could not construct the Path object, avoid
-                         // a memory leak
-    throw;               // and pass the exception on to the caller
+#if KDL_VERSION < ((1 << 16) | (4 << 8) | 1)  // older than 1.4.1 ?
+    delete rot_interpo;                       // in case we could not construct the Path object,
+                                              // avoid a memory leak
+#endif
+    throw;  // and pass the exception on to the caller
     // LCOV_EXCL_STOP
   }
 }

diff --git a/moveit_planners/pilz_industrial_motion_planner/test/integrationtest_command_planning.cpp b/moveit_planners/pilz_industrial_motion_planner/test/integrationtest_command_planning.cpp
@@ -219,7 +219,7 @@ TEST_F(IntegrationTestCommandPlanning, PtpJointCart)
   Eigen::Isometry3d exp_iso3d_pose;
   tf2::fromMsg(expected_pose, exp_iso3d_pose);
 
-  EXPECT_TRUE(Eigen::Quaterniond(tf.rotation()).isApprox(Eigen::Quaterniond(exp_iso3d_pose.rotation()), EPSILON));
+  EXPECT_TRUE(Eigen::Quaterniond(tf.rotation()).isApprox(Eigen::Quaterniond(exp_iso3d_pose.rotation()), 2 * EPSILON));
 }
 
 /**