Reduce joint velocity and delay in tests

moveit · Sep 20, 2024 · 38fa728 · 38fa728
1 parent 3b2a7be
commit 38fa728
Showing 1 changed file with 4 additions and 4 deletions.
diff --git a/moveit_ros/moveit_servo/tests/test_ros_integration.cpp b/moveit_ros/moveit_servo/tests/test_ros_integration.cpp
@@ -90,15 +90,15 @@ TEST_F(ServoRosFixture, testJointJog)
 
   std::fill(jog_cmd.velocities.begin(), jog_cmd.velocities.end(), 0.0);
 
-  jog_cmd.velocities[6] = 1.0;
+  jog_cmd.velocities[6] = 0.5;
 
   size_t count = 0;
   while (rclcpp::ok() && count < NUM_COMMANDS)
   {
     jog_cmd.header.stamp = servo_test_node_->now();
     joint_jog_publisher->publish(jog_cmd);
     count++;
-    rclcpp::sleep_for(std::chrono::milliseconds(200));
+    rclcpp::sleep_for(std::chrono::milliseconds(100));
   }
 
   ASSERT_GE(traj_count_, NUM_COMMANDS);
@@ -137,7 +137,7 @@ TEST_F(ServoRosFixture, testTwist)
     twist_cmd.header.stamp = servo_test_node_->now();
     twist_publisher->publish(twist_cmd);
     count++;
-    rclcpp::sleep_for(std::chrono::milliseconds(200));
+    rclcpp::sleep_for(std::chrono::milliseconds(100));
   }
 
   ASSERT_GE(traj_count_, NUM_COMMANDS);
@@ -178,7 +178,7 @@ TEST_F(ServoRosFixture, testPose)
     pose_cmd.header.stamp = servo_test_node_->now();
     pose_publisher->publish(pose_cmd);
     count++;
-    rclcpp::sleep_for(std::chrono::milliseconds(200));
+    rclcpp::sleep_for(std::chrono::milliseconds(100));
   }
 
   ASSERT_GE(traj_count_, NUM_COMMANDS);