Wait for controller to become active

urfeex · urfeex · commit e8118adb62fd · 2025-11-03T13:59:12.000Z
Otherwise there is a race condition between sending the program ans
starting the tests.
diff --git a/ur_robot_driver/test/integration_test_scaled_joint_controller.py b/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
     #

Original file line number	Diff line number	Diff line change
`@@ -97,6 +97,10 @@ def setUp(self):`
`97`	`97`	`time.sleep(1)`
`98`	`98`	`self.assertTrue(self._io_status_controller_interface.resend_robot_program().success)`
`99`	`99`
	`100`	`+ self._controller_manager_interface.wait_for_controller(`
	`101`	`+ "scaled_joint_trajectory_controller", "active"`
	`102`	`+ )`
	`103`	`+`
`100`	`104`	`#`
`101`	`105`	`# Test functions`
`102`	`106`	`#`