Fix flaky tests (backport #1559) (#1566)

Wait for controller to become active

Otherwise there is a race condition between sending the program and
starting the tests.

Author: mergify[bot]

ur_robot_driver/test/integration_test_scaled_joint_controller.py

@@ -97,6 +97,10 @@ def setUp(self):
         time.sleep(1)
         self.assertTrue(self._io_status_controller_interface.resend_robot_program().success)
 
+        self._controller_manager_interface.wait_for_controller(
+            "scaled_joint_trajectory_controller", "active"
+        )
+
     #
     # Test functions
     #

ur_robot_driver/test/integration_test_trajectory_until.py

@@ -95,11 +95,13 @@ def init_robot(self):
 
         self._controller_manager_interface.wait_for_controller("tool_contact_controller")
 
-    def setUp(self):
+    def setUp(self, initial_joint_controller):
         self._dashboard_interface.start_robot()
         time.sleep(1)
         self.assertTrue(self._io_status_controller_interface.resend_robot_program().success)
 
+        self._controller_manager_interface.wait_for_controller(initial_joint_controller, "active")
+
     #
     # Tests
     #