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[JTC] Improve update methods for tests #858

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merged 15 commits into from Nov 27, 2023
Merged

[JTC] Improve update methods for tests #858

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5919e1a
Get msg from class variable and async update
christophfroehlich Nov 26, 2023
b8ed1b3
Use states from class variables
christophfroehlich Nov 26, 2023
2d7ef08
Revert changes to state_topic_consistency test
christophfroehlich Nov 26, 2023
9f22f85
Use async update where possible
christophfroehlich Nov 26, 2023
9d4fcf0
Use async update for action tests
christophfroehlich Nov 26, 2023
b9bf3ab
Use class variables instead of state_msg subscriber
christophfroehlich Nov 26, 2023
d97a21f
Fix test_goal_tolerances_fail
christophfroehlich Nov 26, 2023
1846b64
Use async update with waitAndCompareState
christophfroehlich Nov 26, 2023
f0cf8fc
Cleanup utils file
christophfroehlich Nov 26, 2023
49235c0
Use async update for remaining tests
christophfroehlich Nov 26, 2023
c1a48df
Use sleep_for in the updateController method
christophfroehlich Nov 26, 2023
7dbe314
Add description for update functions
christophfroehlich Nov 26, 2023
c8c68f1
Merge branch 'master' into jtc/trajectory_error_tests
christophfroehlich Nov 27, 2023
10d6aef
Reactivate jump tests
christophfroehlich Nov 27, 2023
6b99228
Create a function to reuse for tests
christophfroehlich Nov 15, 2023
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16 changes: 8 additions & 8 deletions joint_trajectory_controller/test/test_trajectory_actions.cpp
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Expand Up @@ -242,7 +242,7 @@ TEST_P(TestTrajectoryActionsTestParameterized, test_success_single_point_sendgoa
EXPECT_EQ(rclcpp_action::ResultCode::SUCCEEDED, common_resultcode_);

// run an update
updateController(rclcpp::Duration::from_seconds(0.01));
updateControllerAsync(rclcpp::Duration::from_seconds(0.01));

// it should be holding the last position goal
// i.e., active but trivial trajectory (one point only)
Expand Down Expand Up @@ -298,7 +298,7 @@ TEST_P(TestTrajectoryActionsTestParameterized, test_success_multi_point_sendgoal
EXPECT_EQ(rclcpp_action::ResultCode::SUCCEEDED, common_resultcode_);

// run an update
updateController(rclcpp::Duration::from_seconds(0.01));
updateControllerAsync(rclcpp::Duration::from_seconds(0.01));

// it should be holding the last position goal
// i.e., active but trivial trajectory (one point only)
Expand Down Expand Up @@ -350,7 +350,7 @@ TEST_F(TestTrajectoryActions, test_goal_tolerances_single_point_success)
control_msgs::action::FollowJointTrajectory_Result::SUCCESSFUL, common_action_result_code_);

// run an update
updateController(rclcpp::Duration::from_seconds(0.01));
updateControllerAsync(rclcpp::Duration::from_seconds(0.01));

// it should be holding the last position goal
// i.e., active but trivial trajectory (one point only)
Expand Down Expand Up @@ -409,7 +409,7 @@ TEST_F(TestTrajectoryActions, test_goal_tolerances_multi_point_success)
control_msgs::action::FollowJointTrajectory_Result::SUCCESSFUL, common_action_result_code_);

// run an update
updateController(rclcpp::Duration::from_seconds(0.01));
updateControllerAsync(rclcpp::Duration::from_seconds(0.01));

// it should be holding the last position goal
// i.e., active but trivial trajectory (one point only)
Expand Down Expand Up @@ -460,7 +460,7 @@ TEST_P(TestTrajectoryActionsTestParameterized, test_state_tolerances_fail)
common_action_result_code_);

// run an update
updateController(rclcpp::Duration::from_seconds(0.01));
updateControllerAsync(rclcpp::Duration::from_seconds(0.01));

// it should be holding the position (being the initial one)
// i.e., active but trivial trajectory (one point only)
Expand Down Expand Up @@ -509,7 +509,7 @@ TEST_P(TestTrajectoryActionsTestParameterized, test_goal_tolerances_fail)
common_action_result_code_);

// run an update
updateController(rclcpp::Duration::from_seconds(0.01));
updateControllerAsync(rclcpp::Duration::from_seconds(0.01));

// it should be holding the position (being the initial one)
// i.e., active but trivial trajectory (one point only)
Expand Down Expand Up @@ -555,7 +555,7 @@ TEST_P(TestTrajectoryActionsTestParameterized, test_no_time_from_start_state_tol
common_action_result_code_);

// run an update
updateController(rclcpp::Duration::from_seconds(0.01));
updateControllerAsync(rclcpp::Duration::from_seconds(0.01));

// it should be holding the position (being the initial one)
// i.e., active but trivial trajectory (one point only)
Expand Down Expand Up @@ -603,7 +603,7 @@ TEST_P(TestTrajectoryActionsTestParameterized, test_cancel_hold_position)
std::vector<double> cancelled_position{joint_pos_[0], joint_pos_[1], joint_pos_[2]};

// run an update
updateController(rclcpp::Duration::from_seconds(0.01));
updateControllerAsync(rclcpp::Duration::from_seconds(0.01));

// it should be holding the last position,
// i.e., active but trivial trajectory (one point only)
Expand Down