Remove passthrough test from sjtc test script

Author: URJala

ur_robot_driver/test/integration_test_scaled_joint_controller.py

@@ -295,128 +295,3 @@ def js_cb(msg):
     #     result = self.get_result("/scaled_joint_trajectory_controller/follow_joint_trajectory", goal_response, TIMEOUT_EXECUTE_TRAJECTORY)
     #     self.assertEqual(result.error_code, FollowJointTrajectory.Result.GOAL_TOLERANCE_VIOLATED)
     #     self.node.get_logger().info("Received result GOAL_TOLERANCE_VIOLATED")
-
-    def test_passthrough_trajectory(self, tf_prefix):
-        if self.mock_hardware:
-            return True
-        self.assertTrue(
-            self._controller_manager_interface.switch_controller(
-                strictness=SwitchController.Request.BEST_EFFORT,
-                activate_controllers=["passthrough_trajectory_controller"],
-                deactivate_controllers=["scaled_joint_trajectory_controller"],
-            ).ok
-        )
-        waypts = [
-            [-1.58, -1.692, -1.4311, -0.0174, 1.5882, 0.0349],
-            [-2.5, -1.692, -1.4311, -0.0174, 1.5882, 0.0349],
-            [-1.58, -1.692, -1.4311, -0.0174, 1.5882, 0.0349],
-        ]
-        time_vec = [
-            Duration(sec=4, nanosec=0),
-            Duration(sec=8, nanosec=0),
-            Duration(sec=12, nanosec=0),
-        ]
-        goal_tolerance = [
-            JointTolerance(position=0.01, velocity=5e-5, name=tf_prefix + ROBOT_JOINTS[i])
-            for i in range(len(ROBOT_JOINTS))
-        ]
-        goal_time_tolerance = Duration(sec=1, nanosec=0)
-        test_trajectory = zip(time_vec, waypts)
-        trajectory = JointTrajectory(
-            points=[
-                JointTrajectoryPoint(positions=pos, time_from_start=times)
-                for (times, pos) in test_trajectory
-            ],
-            joint_names=[tf_prefix + ROBOT_JOINTS[i] for i in range(len(ROBOT_JOINTS))],
-        )
-        goal_handle = self._passthrough_forward_joint_trajectory.send_goal(
-            trajectory=trajectory,
-            goal_time_tolerance=goal_time_tolerance,
-            goal_tolerance=goal_tolerance,
-        )
-        self.assertTrue(goal_handle.accepted)
-        if goal_handle.accepted:
-            result = self._passthrough_forward_joint_trajectory.get_result(
-                goal_handle, TIMEOUT_EXECUTE_TRAJECTORY
-            )
-            self.assertEqual(result.error_code, FollowJointTrajectory.Result.SUCCESSFUL)
-
-        # Full quintic trajectory
-        test_trajectory = zip(time_vec, waypts)
-        trajectory = JointTrajectory(
-            points=[
-                JointTrajectoryPoint(
-                    positions=pos,
-                    time_from_start=times,
-                    velocities=[0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
-                    accelerations=[0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
-                )
-                for (times, pos) in test_trajectory
-            ],
-            joint_names=[tf_prefix + ROBOT_JOINTS[i] for i in range(len(ROBOT_JOINTS))],
-        )
-        goal_handle = self._passthrough_forward_joint_trajectory.send_goal(
-            trajectory=trajectory,
-            goal_time_tolerance=goal_time_tolerance,
-            goal_tolerance=goal_tolerance,
-        )
-        self.assertTrue(goal_handle.accepted)
-        if goal_handle.accepted:
-            result = self._passthrough_forward_joint_trajectory.get_result(
-                goal_handle, TIMEOUT_EXECUTE_TRAJECTORY
-            )
-            self.assertEqual(result.error_code, FollowJointTrajectory.Result.SUCCESSFUL)
-
-        # Test impossible goal tolerance, should fail.
-        test_trajectory = zip(time_vec, waypts)
-        trajectory = JointTrajectory(
-            points=[
-                JointTrajectoryPoint(positions=pos, time_from_start=times)
-                for (times, pos) in test_trajectory
-            ],
-            joint_names=[tf_prefix + ROBOT_JOINTS[i] for i in range(len(ROBOT_JOINTS))],
-        )
-        goal_tolerance = [
-            JointTolerance(position=0.000000001, name=tf_prefix + ROBOT_JOINTS[i])
-            for i in range(len(ROBOT_JOINTS))
-        ]
-        goal_handle = self._passthrough_forward_joint_trajectory.send_goal(
-            trajectory=trajectory,
-            goal_time_tolerance=goal_time_tolerance,
-            goal_tolerance=goal_tolerance,
-        )
-        self.assertTrue(goal_handle.accepted)
-        if goal_handle.accepted:
-            result = self._passthrough_forward_joint_trajectory.get_result(
-                goal_handle, TIMEOUT_EXECUTE_TRAJECTORY
-            )
-            self.assertEqual(
-                result.error_code, FollowJointTrajectory.Result.GOAL_TOLERANCE_VIOLATED
-            )
-
-        # Test impossible goal time
-        goal_tolerance = [
-            JointTolerance(position=0.01, name=tf_prefix + ROBOT_JOINTS[i]) for i in range(6)
-        ]
-        goal_time_tolerance.sec = 0
-        goal_time_tolerance.nanosec = 10
-        goal_handle = self._passthrough_forward_joint_trajectory.send_goal(
-            trajectory=trajectory,
-            goal_time_tolerance=goal_time_tolerance,
-            goal_tolerance=goal_tolerance,
-        )
-        self.assertTrue(goal_handle.accepted)
-        if goal_handle.accepted:
-            result = self._passthrough_forward_joint_trajectory.get_result(
-                goal_handle, TIMEOUT_EXECUTE_TRAJECTORY
-            )
-            self.assertEqual(
-                result.error_code, FollowJointTrajectory.Result.GOAL_TOLERANCE_VIOLATED
-            )
-        self.assertTrue(
-            self._controller_manager_interface.switch_controller(
-                strictness=SwitchController.Request.BEST_EFFORT,
-                deactivate_controllers=["passthrough_trajectory_controller"],
-                activate_controllers=["scaled_joint_trajectory_controller"],
-            ).ok
-        )