Simplify tests #849
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Simplify tests #849
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RobertWilbrandt
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This makes it easier to differentiate between ROS and test framework messages
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Maybe this would be a good point to add the URSim log to the artifacts similar to UniversalRobots/Universal_Robots_Client_Library@9b695e3 |
RobertWilbrandt
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That is not transferrable 100% - Because we start ursim from the test launch description the container is already dead when we want to copy out the logs. That is certainly solvable, but somewhat unrelated to restructuring the code. I'd prefer merging this now and adding that feature later on. |
fmauch
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Thank you @RobertWilbrandt This will make future test extensions much easier.
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* Remove duplication of launch description in tests * Move launch and interfacing boilerplate to common file * Move all test logs to python logging This makes it easier to differentiate between ROS and test framework messages * Move waiting for a controller to test_common * Move robot starting to dashboard interface * Remove unused request definition (cherry picked from commit b28a870) # Conflicts: # ur_robot_driver/test/dashboard_client.py # ur_robot_driver/test/robot_driver.py
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* Remove duplication of launch description in tests * Move launch and interfacing boilerplate to common file * Move all test logs to python logging This makes it easier to differentiate between ROS and test framework messages * Move waiting for a controller to test_common * Move robot starting to dashboard interface * Remove unused request definition (cherry picked from commit b28a870) # Conflicts: # ur_robot_driver/test/dashboard_client.py # ur_robot_driver/test/robot_driver.py # ur_robot_driver/test/urscript_interface.py
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fmauch
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* Remove duplication of launch description in tests * Move launch and interfacing boilerplate to common file * Move all test logs to python logging This makes it easier to differentiate between ROS and test framework messages * Move waiting for a controller to test_common * Move robot starting to dashboard interface * Remove unused request definition (cherry picked from commit b28a870)
fmauch
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* Remove duplication of launch description in tests * Move launch and interfacing boilerplate to common file * Move all test logs to python logging This makes it easier to differentiate between ROS and test framework messages * Move waiting for a controller to test_common * Move robot starting to dashboard interface * Remove unused request definition (cherry picked from commit b28a870)
fmauch
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Apr 17, 2024
* Remove duplication of launch description in tests * Move launch and interfacing boilerplate to common file * Move all test logs to python logging This makes it easier to differentiate between ROS and test framework messages * Move waiting for a controller to test_common * Move robot starting to dashboard interface * Remove unused request definition (cherry picked from commit b28a870) Co-authored-by: RobertWilbrandt <[email protected]>
fmauch
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* Simplify tests (#849) * Remove duplication of launch description in tests * Move launch and interfacing boilerplate to common file * Move all test logs to python logging This makes it easier to differentiate between ROS and test framework messages * Move waiting for a controller to test_common * Move robot starting to dashboard interface * Remove unused request definition (cherry picked from commit b28a870) * Add UR30 --------- Co-authored-by: RobertWilbrandt <[email protected]> Co-authored-by: Felix Exner <[email protected]>
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Our runtime tests have accumulated quite a bit of duplicated code for starting the driver and interfacing with ROS interfaces. Before adding more tests (MoveIt, mock_hardware, ...) this should get refactored and cleaned up.