Add test parameter of initial joint controller to test with different motion controllers.

Author: URJala

ur_robot_driver/test/integration_test_tool_contact.py

@@ -90,7 +90,7 @@ def init_robot(self):
             self.node, "/tool_contact_controller/enable_tool_contact", ToolContact
         )
         self._trajectory_until_interface = ActionInterface(
-            self.node, "/trajectory_until/execute", TrajectoryUntil
+            self.node, "/trajectory_until_node/execute", TrajectoryUntil
         )
 
     def setUp(self):
@@ -117,14 +117,14 @@ def test_tool_contact(self):
         cancel_res = self._tool_contact_interface.cancel_goal(goal_handle)
         self.assertEqual(cancel_res.return_code, 0)
 
-    def test_trajectory_until(self):
+    def test_trajectory_until(self, tf_prefix):
         L_pose_to_down = {
-            "waypts": [[-0.45, -1.5, 1.5, -1.5, -1.5, -1.5], [-0.45, -1.2, 2.1, -2.4, -1.5, -1.5]],
+            "waypts": [[1.5, -1.5, -0.45, -1.5, -1.5, -1.5], [2.1, -1.2, -0.45, -2.4, -1.5, -1.5]],
             "time_vec": [Duration(sec=3, nanosec=0), Duration(sec=6, nanosec=0)],
         }
 
         trajectory = JointTrajectory()
-        trajectory.joint_names = ROBOT_JOINTS
+        trajectory.joint_names = [tf_prefix + joint for joint in ROBOT_JOINTS]
 
         trajectory.points = [
             JointTrajectoryPoint(

ur_robot_driver/test/test_common.py

@@ -353,7 +353,9 @@ def generate_dashboard_test_description():
 
 
 def generate_driver_test_description(
-    tf_prefix="", controller_spawner_timeout=TIMEOUT_WAIT_SERVICE_INITIAL
+    tf_prefix="",
+    initial_joint_controller="scaled_joint_trajectory_controller",
+    controller_spawner_timeout=TIMEOUT_WAIT_SERVICE_INITIAL,
 ):
     ur_type = LaunchConfiguration("ur_type")
 
@@ -362,7 +364,7 @@ def generate_driver_test_description(
         "ur_type": ur_type,
         "launch_rviz": "false",
         "controller_spawner_timeout": str(controller_spawner_timeout),
-        "initial_joint_controller": "scaled_joint_trajectory_controller",
+        "initial_joint_controller": initial_joint_controller,
         "headless_mode": "true",
         "launch_dashboard_client": "true",
         "start_joint_controller": "false",