started writing integration tests

Author: URJala

ur_controllers/src/tool_contact_controller_parameters.yaml

@@ -4,4 +4,4 @@ tool_contact_controller:
     type: string,
     default_value: "",
     description: "Urdf prefix of the corresponding arm"
-  }
+  }

ur_robot_driver/CMakeLists.txt

@@ -200,5 +200,9 @@ if(BUILD_TESTING)
       TIMEOUT
         500
     )
+    add_launch_test(test/integration_test_tool_contact.py
+      TIMEOUT
+        800
+    )
   endif()
 endif()

ur_robot_driver/config/ur_controllers.yaml

@@ -38,7 +38,7 @@ controller_manager:
 
     ur_configuration_controller:
       type: ur_controllers/URConfigurationController
-    
+
     tool_contact_controller:
       type: ur_controllers/ToolContactController
 

ur_robot_driver/launch/ur_control.launch.py

@@ -169,7 +169,7 @@ def controller_spawner(controllers, active=True):
         "force_torque_sensor_broadcaster",
         "tcp_pose_broadcaster",
         "ur_configuration_controller",
-        "tool_contact_controller"
+        "tool_contact_controller",
     ]
     controllers_inactive = [
         "scaled_joint_trajectory_controller",

ur_robot_driver/test/integration_test_tool_contact.py

@@ -0,0 +1,100 @@
+#!/usr/bin/env python
+# Copyright 2025, Universal Robots A/S
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+#    * Redistributions of source code must retain the above copyright
+#      notice, this list of conditions and the following disclaimer.
+#
+#    * Redistributions in binary form must reproduce the above copyright
+#      notice, this list of conditions and the following disclaimer in the
+#      documentation and/or other materials provided with the distribution.
+#
+#    * Neither the name of the {copyright_holder} nor the names of its
+#      contributors may be used to endorse or promote products derived from
+#      this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+import os
+import sys
+import time
+import unittest
+
+import pytest
+
+import launch_testing
+import rclpy
+from rclpy.node import Node
+
+from controller_manager_msgs.srv import SwitchController
+
+from ur_msgs.action import ToolContact
+
+sys.path.append(os.path.dirname(__file__))
+from test_common import (  # noqa: E402
+    ControllerManagerInterface,
+    DashboardInterface,
+    IoStatusInterface,
+    ActionInterface,
+    generate_driver_test_description,
+)
+
+TIMEOUT_EXECUTE_TRAJECTORY = 30
+
+
+@pytest.mark.launch_test
+@launch_testing.parametrize(
+    "tf_prefix",
+    [(""), ("my_ur_")],
+)
+def generate_test_description(tf_prefix):
+    return generate_driver_test_description(tf_prefix=tf_prefix)
+
+
+class RobotDriverTest(unittest.TestCase):
+    @classmethod
+    def setUpClass(cls):
+        # Initialize the ROS context
+        rclpy.init()
+        cls.node = Node("robot_driver_test")
+        time.sleep(1)
+        cls.init_robot(cls)
+
+    @classmethod
+    def tearDownClass(cls):
+        # Shutdown the ROS context
+        cls.node.destroy_node()
+        rclpy.shutdown()
+
+    def init_robot(self):
+        self._dashboard_interface = DashboardInterface(self.node)
+        self._controller_manager_interface = ControllerManagerInterface(self.node)
+        self._io_status_controller_interface = IoStatusInterface(self.node)
+        self._tool_contact_interface = ActionInterface(
+            self.node, "/tool_contact_controller/enable_tool_contact", ToolContact
+        )
+
+    def setUp(self):
+        self._dashboard_interface.start_robot()
+        time.sleep(1)
+        self.assertTrue(self._io_status_controller_interface.resend_robot_program().success)
+
+    def test_start_tool_contact_controller(self):
+        self.assertTrue(
+            self._controller_manager_interface.switch_controller(
+                strictness=SwitchController.Request.BEST_EFFORT,
+                activate_controllers=["tool_contact_controller"],
+            ).ok
+        )

ur_robot_driver/test/test_common.py

@@ -260,8 +260,6 @@ class IoStatusInterface(
     initial_services={"set_io": SetIO},
     services={
         "resend_robot_program": Trigger,
-        "start_tool_contact": Trigger,
-        "end_tool_contact": Trigger,
     },
 ):
     pass