Running integration tests with mock hardware

Added some launch arguments and some checks to avoid connecting to the dashboard interface when using mock hardware, as that will not work. Maybe not the most elegant, but it works for now.
Currently passthrough controller does not work at all with mock hardware, and is bypassed if using that in the test.
test_trajectory_scaled_aborts_on_violation fails, as the hardware doesnt abort.
test_set_io also fails as the controller cant verify that a pin has been set.

Author: URJala

ur_robot_driver/launch/ur_control.launch.py

@@ -192,6 +192,9 @@ def controller_spawner(controllers, active=True):
     if activate_joint_controller.perform(context) == "true":
         controllers_active.append(initial_joint_controller.perform(context))
         controllers_inactive.remove(initial_joint_controller.perform(context))
+        
+    if use_mock_hardware.perform(context) == "true":
+        controllers_active.remove("tcp_pose_broadcaster")
 
     if use_mock_hardware.perform(context) == "true":
         controllers_active.remove("tcp_pose_broadcaster")

ur_robot_driver/test/robot_driver.py

@@ -56,16 +56,22 @@
 )
 
 TIMEOUT_EXECUTE_TRAJECTORY = 30
+MOCK_HARDWARE = False
+
+def set_mock_hardware_flag(use_mock_hardware):
+    return use_mock_hardware=="true"
 
 
 @pytest.mark.launch_test
 @launch_testing.parametrize(
-    "tf_prefix",
-    [(""), ("my_ur_")],
+    "tf_prefix, use_mock_hardware, mock_sensor_commands",
+    [("", "false", "false"), ("my_ur_", "false", "false"), ("", "true", "true")]
 )
-def generate_test_description(tf_prefix):
-    return generate_driver_test_description(tf_prefix=tf_prefix)
 
+def generate_test_description(tf_prefix, use_mock_hardware, mock_sensor_commands):
+    global MOCK_HARDWARE 
+    MOCK_HARDWARE = set_mock_hardware_flag(use_mock_hardware)
+    return generate_driver_test_description(tf_prefix=tf_prefix, use_mock_hardware=use_mock_hardware, mock_sensor_commands=mock_sensor_commands)
 
 class RobotDriverTest(unittest.TestCase):
     @classmethod
@@ -83,7 +89,10 @@ def tearDownClass(cls):
         rclpy.shutdown()
 
     def init_robot(self):
-        self._dashboard_interface = DashboardInterface(self.node)
+        if(not MOCK_HARDWARE):
+            self._dashboard_interface = DashboardInterface(self.node)
+        else:
+            self._dashboard_interface = None
         self._controller_manager_interface = ControllerManagerInterface(self.node)
         self._io_status_controller_interface = IoStatusInterface(self.node)
         self._configuration_controller_interface = ConfigurationInterface(self.node)
@@ -100,7 +109,8 @@ def init_robot(self):
         )
 
     def setUp(self):
-        self._dashboard_interface.start_robot()
+        if(self._dashboard_interface):
+            self._dashboard_interface.start_robot()
         time.sleep(1)
         self.assertTrue(self._io_status_controller_interface.resend_robot_program().success)
 
@@ -351,6 +361,8 @@ def js_cb(msg):
     #     self.node.get_logger().info("Received result GOAL_TOLERANCE_VIOLATED")
 
     def test_passthrough_trajectory(self, tf_prefix):
+        if(MOCK_HARDWARE):
+            return True
         self.assertTrue(
             self._controller_manager_interface.switch_controller(
                 strictness=SwitchController.Request.BEST_EFFORT,

ur_robot_driver/test/test_common.py

@@ -341,8 +341,8 @@ def generate_dashboard_test_description():
 
 
 def generate_driver_test_description(
-    tf_prefix="", controller_spawner_timeout=TIMEOUT_WAIT_SERVICE_INITIAL
-):
+    tf_prefix="", controller_spawner_timeout=TIMEOUT_WAIT_SERVICE_INITIAL, use_mock_hardware="false", mock_sensor_commands="false"
+    ):
     ur_type = LaunchConfiguration("ur_type")
 
     launch_arguments = {
@@ -354,6 +354,8 @@ def generate_driver_test_description(
         "headless_mode": "true",
         "launch_dashboard_client": "true",
         "start_joint_controller": "false",
+        "use_mock_hardware": use_mock_hardware,
+        "mock_sensor_commands": mock_sensor_commands,
     }
     if tf_prefix:
         launch_arguments["tf_prefix"] = tf_prefix

ur_robot_driver/urdf/ur.ros2_control.xacro

@@ -293,7 +293,9 @@
 
 
       <gpio name="${tf_prefix}get_robot_software_version">
-        <state_interface name="get_version_major"/>
+        <state_interface name="get_version_major">
+          <param name="initial_value">1</param>
+        </state_interface>
         <state_interface name="get_version_minor"/>
         <state_interface name="get_version_build"/>
         <state_interface name="get_version_bugfix"/>