Clean up all the test setups and remove irrelevant tests

Author: URJala

ur_robot_driver/test/integration_test_config_controller.py

@@ -35,12 +35,10 @@
 import launch_testing
 import pytest
 import rclpy
-from control_msgs.action import FollowJointTrajectory
 from rclpy.node import Node
 
 sys.path.append(os.path.dirname(__file__))
 from test_common import (  # noqa: E402
-    ActionInterface,
     ControllerManagerInterface,
     DashboardInterface,
     IoStatusInterface,
@@ -76,17 +74,6 @@ def init_robot(self):
         self._io_status_controller_interface = IoStatusInterface(self.node)
         self._configuration_controller_interface = ConfigurationInterface(self.node)
 
-        self._scaled_follow_joint_trajectory = ActionInterface(
-            self.node,
-            "/scaled_joint_trajectory_controller/follow_joint_trajectory",
-            FollowJointTrajectory,
-        )
-        self._passthrough_forward_joint_trajectory = ActionInterface(
-            self.node,
-            "/passthrough_trajectory_controller/follow_joint_trajectory",
-            FollowJointTrajectory,
-        )
-
     def setUp(self):
         self._dashboard_interface.start_robot()
         time.sleep(1)

ur_robot_driver/test/integration_test_io_controller.py

@@ -36,17 +36,14 @@
 import launch_testing
 import pytest
 import rclpy
-from control_msgs.action import FollowJointTrajectory
 from rclpy.node import Node
 from ur_msgs.msg import IOStates
 
 sys.path.append(os.path.dirname(__file__))
 from test_common import (  # noqa: E402
-    ActionInterface,
     ControllerManagerInterface,
     DashboardInterface,
     IoStatusInterface,
-    ConfigurationInterface,
     generate_driver_test_description,
 )
 
@@ -76,18 +73,6 @@ 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._configuration_controller_interface = ConfigurationInterface(self.node)
-
-        self._scaled_follow_joint_trajectory = ActionInterface(
-            self.node,
-            "/scaled_joint_trajectory_controller/follow_joint_trajectory",
-            FollowJointTrajectory,
-        )
-        self._passthrough_forward_joint_trajectory = ActionInterface(
-            self.node,
-            "/passthrough_trajectory_controller/follow_joint_trajectory",
-            FollowJointTrajectory,
-        )
 
     def setUp(self):
         self._dashboard_interface.start_robot()

ur_robot_driver/test/integration_test_passthrough_controller.py

@@ -49,7 +49,6 @@
     ControllerManagerInterface,
     DashboardInterface,
     IoStatusInterface,
-    ConfigurationInterface,
     generate_driver_test_description,
     ROBOT_JOINTS,
     TIMEOUT_EXECUTE_TRAJECTORY,
@@ -101,22 +100,15 @@ def init_robot(self):
 
         self._controller_manager_interface = ControllerManagerInterface(self.node)
         self._io_status_controller_interface = IoStatusInterface(self.node)
-        self._configuration_controller_interface = ConfigurationInterface(self.node)
 
-        self._scaled_follow_joint_trajectory = ActionInterface(
-            self.node,
-            "/scaled_joint_trajectory_controller/follow_joint_trajectory",
-            FollowJointTrajectory,
-        )
         self._passthrough_forward_joint_trajectory = ActionInterface(
             self.node,
             "/passthrough_trajectory_controller/follow_joint_trajectory",
             FollowJointTrajectory,
         )
 
     def setUp(self):
-        if self._dashboard_interface:
-            self._dashboard_interface.start_robot()
+        self._dashboard_interface.start_robot()
         time.sleep(1)
         self.assertTrue(self._io_status_controller_interface.resend_robot_program().success)
 

ur_robot_driver/test/integration_test_scaled_joint_controller.py

@@ -48,7 +48,6 @@
     ControllerManagerInterface,
     DashboardInterface,
     IoStatusInterface,
-    ConfigurationInterface,
     generate_driver_test_description,
     ROBOT_JOINTS,
     TIMEOUT_EXECUTE_TRAJECTORY,
@@ -80,18 +79,12 @@ 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._configuration_controller_interface = ConfigurationInterface(self.node)
 
         self._scaled_follow_joint_trajectory = ActionInterface(
             self.node,
             "/scaled_joint_trajectory_controller/follow_joint_trajectory",
             FollowJointTrajectory,
         )
-        self._passthrough_forward_joint_trajectory = ActionInterface(
-            self.node,
-            "/passthrough_trajectory_controller/follow_joint_trajectory",
-            FollowJointTrajectory,
-        )
 
     def setUp(self):
         self._dashboard_interface.start_robot()

ur_robot_driver/test/test_mock_hardware.py

@@ -76,8 +76,8 @@ def tearDownClass(cls):
         cls.node.destroy_node()
         rclpy.shutdown()
 
+    # Connect to all interfaces and actions, even ones we know won't work with mock hardware (Except dashboard)
     def init_robot(self):
-        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)
@@ -88,9 +88,11 @@ def init_robot(self):
             FollowJointTrajectory,
         )
 
-    def setUp(self):
-        time.sleep(1)
-        self.assertTrue(self._io_status_controller_interface.resend_robot_program().success)
+        self._passthrough_forward_joint_trajectory = ActionInterface(
+            self.node,
+            "/passthrough_trajectory_controller/follow_joint_trajectory",
+            FollowJointTrajectory,
+        )
 
     #
     # Test functions
@@ -165,31 +167,3 @@ def test_illegal_trajectory(self, tf_prefix):
 
         # Verify the failure is correctly detected
         self.assertFalse(goal_handle.accepted)
-
-    def test_trajectory_scaled(self, tf_prefix):
-        """Test robot movement."""
-        # Construct test trajectory
-        test_trajectory = [
-            (Duration(sec=6, nanosec=0), [0.0 for j in ROBOT_JOINTS]),
-            (Duration(sec=6, nanosec=500000000), [-1.0 for j in ROBOT_JOINTS]),
-        ]
-
-        trajectory = JointTrajectory(
-            joint_names=[tf_prefix + joint for joint in ROBOT_JOINTS],
-            points=[
-                JointTrajectoryPoint(positions=test_pos, time_from_start=test_time)
-                for (test_time, test_pos) in test_trajectory
-            ],
-        )
-
-        # Execute trajectory
-        logging.info("Sending goal for robot to follow")
-        goal_handle = self._scaled_follow_joint_trajectory.send_goal(trajectory=trajectory)
-        self.assertTrue(goal_handle.accepted)
-
-        # Verify execution
-        result = self._scaled_follow_joint_trajectory.get_result(
-            goal_handle,
-            TIMEOUT_EXECUTE_TRAJECTORY,
-        )
-        self.assertEqual(result.error_code, FollowJointTrajectory.Result.SUCCESSFUL)