Comprehensive tests for ArmMoveJoint and ArmMoveJoints #89
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
MilanAdd
changed the title
kmdalal
approved these changes
Aug 12, 2022
There was a problem hiding this comment.
I could only review the code and not test this, so I've added @anjan1984 to test this plan and see if the commanded angle set looks reasonable.
This looks reasonable to me given the short time available, and could be merged as is. Future improvements could add more tests as needed, and make the plan self-verifying by checking the joint angles after the move. This plan could be the beginning of a fully automated release test.
|
Great tool to test the joint limits |
anjan1984
approved these changes
Aug 24, 2022
|
That's good to know. I will merge it then. I sincerely thank you and everyone else involved in the OceanWATERS project for giving me such great guidance and mentorship throughout this summer. Good luck! |
MilanAdd
deleted the
OCEANWATER-1028-Comprehensive_tests_for_ArmMoveJoint_and_ArmMoveJoints
branch
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
As more arm joint limits are being tested and that there is now a PLEXIL interface for the ArmMoveJoint and ArmMoveJoints actions, comprehensive tests can now be done for Release 10.
This test plan moves each joint to their lower and upper limits and then back to their original angles (basically 0 radians).
To test:
roslaunch ow_plexil ow_exec.launch plan:="ComprehensiveArmMoveJointTestOne.plx"