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Set minimal velocity tolerance in passthrough trajectory test (backport #1443) #1445

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Merged
merged 1 commit into from
Jul 2, 2025
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Set minimal velocity tolerance in passthrough trajectory test (backport #1443) #1445

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23 changes: 22 additions & 1 deletion ur_robot_driver/test/robot_driver.py
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Original file line number Diff line number Diff line change
Expand Up @@ -187,6 +187,13 @@ def io_msg_cb(msg):

def test_trajectory(self, tf_prefix):
"""Test robot movement."""
self.assertTrue(
self._controller_manager_interface.switch_controller(
strictness=SwitchController.Request.BEST_EFFORT,
deactivate_controllers=["passthrough_trajectory_controller"],
activate_controllers=["scaled_joint_trajectory_controller"],
).ok
)
# Construct test trajectory
test_trajectory = [
(Duration(sec=6, nanosec=0), [0.0 for j in ROBOT_JOINTS]),
Expand Down Expand Up @@ -219,6 +226,13 @@ def test_illegal_trajectory(self, tf_prefix):

This is more of a validation test that the testing suite does the right thing
"""
self.assertTrue(
self._controller_manager_interface.switch_controller(
strictness=SwitchController.Request.BEST_EFFORT,
deactivate_controllers=["passthrough_trajectory_controller"],
activate_controllers=["scaled_joint_trajectory_controller"],
).ok
)
# Construct test trajectory, the second point wrongly starts before the first
test_trajectory = [
(Duration(sec=6, nanosec=0), [0.0 for j in ROBOT_JOINTS]),
Expand All @@ -244,6 +258,13 @@ def test_illegal_trajectory(self, tf_prefix):

def test_trajectory_scaled(self, tf_prefix):
"""Test robot movement."""
self.assertTrue(
self._controller_manager_interface.switch_controller(
strictness=SwitchController.Request.BEST_EFFORT,
deactivate_controllers=["passthrough_trajectory_controller"],
activate_controllers=["scaled_joint_trajectory_controller"],
).ok
)
# Construct test trajectory
test_trajectory = [
(Duration(sec=6, nanosec=0), [0.0 for j in ROBOT_JOINTS]),
Expand Down Expand Up @@ -369,7 +390,7 @@ def test_passthrough_trajectory(self, tf_prefix):
Duration(sec=12, nanosec=0),
]
goal_tolerance = [
JointTolerance(position=0.01, name=tf_prefix + ROBOT_JOINTS[i])
JointTolerance(position=0.01, velocity=5e-5, name=tf_prefix + ROBOT_JOINTS[i])
for i in range(len(ROBOT_JOINTS))
]
goal_time_tolerance = Duration(sec=1, nanosec=0)
Expand Down