[complex_recovery] fix parallel test

jsk-ros-pkg · Sep 23, 2022 · e8bb1e3 · e8bb1e3
1 parent 3d7aa97
commit e8bb1e3
Showing 1 changed file with 36 additions and 14 deletions.
diff --git a/jsk_robot_common/complex_recovery/tests/parallel_complex_recovery.test b/jsk_robot_common/complex_recovery/tests/parallel_complex_recovery.test
@@ -7,20 +7,42 @@
         <rosparam>
           recovery:
             recovery_behaviors:
-              - name: 'speak_and_wait0'
-                type: 'speak_and_wait_recovery/SpeakAndWaitRecovery'
-              - name: 'speak_and_wait1'
-                type: 'speak_and_wait_recovery/SpeakAndWaitRecovery'
-            speak_and_wait0:
-              speak_text: 'test0'
-              duration_wait: 2.0
-              duration_timeout: 2.0
-              result_timeout: 1.0
-            speak_and_wait1:
-              speak_text: 'test1'
-              duration_wait: 2.0
-              duration_timeout: 2.0
-              result_timeout: 1.0
+              - name: 'wait_and_speak_complex0'
+                type: 'complex_recovery/SequentialComplexRecovery'
+              - name: 'wait_and_speak_complex1'
+                type: 'complex_recovery/SequentialComplexRecovery'
+            wait_and_speak_complex0:
+              recovery_behaviors:
+                - name: 'wait_3_secs'
+                  type: 'speak_and_wait_recovery/SpeakAndWaitRecovery'
+                - name: 'speak_and_wait0'
+                  type: 'speak_and_wait_recovery/SpeakAndWaitRecovery'
+              wait_3_secs:
+                speak_text: ''
+                duration_wait: 3.0
+                duration_timeout: 2.0
+                result_timeout: 1.0
+              speak_and_wait0:
+                speak_text: 'test0'
+                duration_wait: 2.0
+                duration_timeout: 2.0
+                result_timeout: 1.0
+            wait_and_speak_complex1:
+              recovery_behaviors:
+                - name: 'wait_5_secs'
+                  type: 'speak_and_wait_recovery/SpeakAndWaitRecovery'
+                - name: 'speak_and_wait1'
+                  type: 'speak_and_wait_recovery/SpeakAndWaitRecovery'
+              wait_5_secs:
+                speak_text: ''
+                duration_wait: 5.0
+                duration_timeout: 2.0
+                result_timeout: 1.0
+              speak_and_wait1:
+                speak_text: 'test1'
+                duration_wait: 2.0
+                duration_timeout: 2.0
+                result_timeout: 1.0
         </rosparam>
     </node>