Wait for tool_contact_controller in test

urfeex · urfeex · commit 88bbcb4e4be4 · 2025-10-02T12:23:44.000Z
diff --git a/ur_robot_driver/test/integration_test_trajectory_until.py b/ur_robot_driver/test/integration_test_trajectory_until.py
@@ -94,6 +94,8 @@ def init_robot(self):
             "time_vec": [Duration(sec=3, nanosec=0), Duration(sec=6, nanosec=0)],
         }
 
+        self._controller_manager_interface.wait_for_controller("tool_contact_controller")
+
     def setUp(self):
         self._dashboard_interface.start_robot()
         time.sleep(1)

Original file line number	Diff line number	Diff line change
`@@ -94,6 +94,8 @@ def init_robot(self):`
`94`	`94`	`"time_vec": [Duration(sec=3, nanosec=0), Duration(sec=6, nanosec=0)],`
`95`	`95`	`}`
`96`	`96`
	`97`	`+ self._controller_manager_interface.wait_for_controller("tool_contact_controller")`
	`98`	`+`
`97`	`99`	`def setUp(self):`
`98`	`100`	`self._dashboard_interface.start_robot()`
`99`	`101`	`time.sleep(1)`