Remove sending an idle command in quintic spline test (#275)

Sending an idle command makes the URScript send a cancelled
trajectory result sent back.

Author: urfeex

tests/test_spline_interpolation.cpp

@@ -141,11 +141,6 @@ class SplineInterpolationTest : public ::testing::Test
     ASSERT_TRUE(g_my_robot->isHealthy());
   }
 
-  void sendIdle()
-  {
-    ASSERT_TRUE(g_my_robot->ur_driver_->writeKeepalive(RobotReceiveTimeout::sec()));
-  }
-
   void sendTrajectory(const std::vector<urcl::vector6d_t>& s_pos, const std::vector<urcl::vector6d_t>& s_vel,
                       const std::vector<urcl::vector6d_t>& s_acc, const std::vector<double>& s_time)
   {
@@ -458,10 +453,6 @@ TEST_F(SplineInterpolationTest, quintic_spline_with_end_point_velocity_with_spee
   std::unique_ptr<rtde_interface::DataPackage> data_pkg;
   g_my_robot->readDataPackage(data_pkg);
 
-  // Align timestep
-  sendIdle();
-  g_my_robot->readDataPackage(data_pkg);
-
   urcl::vector6d_t joint_positions, joint_velocities, joint_acc;
   ASSERT_TRUE(data_pkg->getData("target_q", joint_positions));
   ASSERT_TRUE(data_pkg->getData("target_qd", joint_velocities));