Wait for controller to be running

urfeex · urfeex · commit 3b8aaeaaad21 · 2025-11-10T14:09:05.000Z
diff --git a/ur_robot_driver/test/integration_test_trajectory_until.py b/ur_robot_driver/test/integration_test_trajectory_until.py
@@ -96,11 +96,13 @@ def init_robot(self):
 
         self._controller_manager_interface.wait_for_controller("tool_contact_controller")
 
-    def setUp(self):
+    def setUp(self, initial_joint_controller):
         self._dashboard_interface.start_robot()
         time.sleep(1)
         self.assertTrue(self._io_status_controller_interface.resend_robot_program().success)
 
+        self._controller_manager_interface.wait_for_controller(initial_joint_controller, "active")
+
     #
     # Tests
     #

Original file line number	Diff line number	Diff line change
`@@ -96,11 +96,13 @@ def init_robot(self):`
`96`	`96`
`97`	`97`	`self._controller_manager_interface.wait_for_controller("tool_contact_controller")`
`98`	`98`
`99`		`- def setUp(self):`
	`99`	`+ def setUp(self, initial_joint_controller):`
`100`	`100`	`self._dashboard_interface.start_robot()`
`101`	`101`	`time.sleep(1)`
`102`	`102`	`self.assertTrue(self._io_status_controller_interface.resend_robot_program().success)`
`103`	`103`
	`104`	`+ self._controller_manager_interface.wait_for_controller(initial_joint_controller, "active")`
	`105`	`+`
`104`	`106`	`#`
`105`	`107`	`# Tests`
`106`	`108`	`#`