Merge pull request #469 from k-okada/test_446

test check apply_planning_scene before creating collision-object-publisher/*ci* without MoveIt
jsk-ros-pkg · Nov 22, 2021 · 990f974 · 990f974
2 parents c3dd6ef + 718b585
commit 990f974
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diff --git a/pr2eus_moveit/euslisp/collision-object-publisher.l b/pr2eus_moveit/euslisp/collision-object-publisher.l
@@ -8,7 +8,7 @@
 (defmethod collision-object-publisher
   (:init (&key (service-name "apply_planning_scene")
                (scene-service "get_planning_scene")
-               (service-wait-time -1))
+               (service-wait-time 30))
    (unless (ros::ok) (ros::roseus "publish_collision_eusobj"))
    (setq object-list (make-hash-table))
    (setq attached-object-list (make-hash-table))

diff --git a/pr2eus_moveit/test/test-pr2eus-moveit-sim.l b/pr2eus_moveit/test/test-pr2eus-moveit-sim.l
@@ -1,5 +1,7 @@
 #!/usr/bin/env roseus
 
+;; test code to check pr2eus_moveit without MoveIt instance
+
 (require :unittest "lib/llib/unittest.l")
 (init-unit-test)
 
@@ -14,5 +16,11 @@
     (assert ret "angle-vector-motion-plan returns something")
     ))
 
+;; check https://github.com/jsk-ros-pkg/jsk_pr2eus/pull/446 to avoid jsk-ros-pkg/jsk_robot#1264 problem
+(deftest test-init-collision-object-publisher
+  (setq ret (instance collision-object-publisher :init))
+  (assert ret "(instance collision-object-publisher :init)"))
+
+
 (run-all-tests)
 (exit)
diff --git a/pr2eus_moveit/test/test-pr2eus-moveit-sim.test b/pr2eus_moveit/test/test-pr2eus-moveit-sim.test
@@ -1,4 +1,7 @@
 <launch>
+
+  <!-- test code to check pr2eus_moveit without MoveIt instance -->
+
   <arg name="DISPLAY" default="" />
 
   <env name="DISPLAY" value="$(arg DISPLAY)" />