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[baxter-interface.l] Wait until all joint states are updated before moving #627 #628

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merged 3 commits into from Jun 25, 2016
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Always

Just for now

@@ -6,7 +6,6 @@ project(baxtereus)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
roseus
rostest
collada_urdf
euscollada
# baxter_description
@@ -65,4 +64,7 @@ install(DIRECTORY euslisp test

install(FILES baxter.l baxter-interface.l baxter-util.l baxter-moveit.l baxter.yaml DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

add_rostest(test/test-baxter.test)
if(CATKIN_ENABLE_TESTING)
find_package(catkin REQUIRED COMPONENTS rostest)
add_rostest(test/test-baxter.test)
endif()
@@ -233,7 +233,7 @@
(:angle-vector-sequence (avs &optional (tms :fast) (ctype controller-type) (start-time 0) &key (scale 2.2) (min-time 0.05))
;; force add current position to the top of avs
(if (atom tms) (setq tms (list tms)))
(push (send self :state :potentio-vector) avs)
(push (send self :state :potentio-vector :wait-until-update t) avs)
(push 50 tms)
(when (= (length avs) 2) ;; when input avs is 1
(setq avs (list (elt avs 0) (midpoint 0.5 (elt avs 0) (elt avs 1)) (elt avs 1)))
@@ -197,6 +197,7 @@
(assert (= (elt (send robot :rarm :angle-vector) i) (elt reversed i))))
))

(when (string> (unix::getenv "ROS_DISTRO") "hydro")
(load "package://baxtereus/baxter-interface.l")
(deftest test-baxter-interface
(let (robot ri msg)
@@ -217,6 +218,7 @@

(deftest test-baxter-init
(baxter-init))
) ;; when


(run-all-tests)
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