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Add frame jog test for UR5

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7675t committed Jul 10, 2018
1 parent 1330d1e commit 49c084e454e023d14bbb73560cdb42e1d25772b6
Showing with 15 additions and 2 deletions.
  1. +2 −2 jog_controller/test/test_jog_frame.py
  2. +13 −0 jog_controller/test/ur5_jog.test
@@ -33,8 +33,8 @@ def setUp(self):
self.frame_id = rospy.get_param('~frame_id', 'base_link')
self.group_name = rospy.get_param('~group_name', 'manipulator')
self.link_name = rospy.get_param('~link_name', 'ee_link')
self.linear_delta = rospy.get_param('~linear_delta', 0.01)
self.angular_delta = rospy.get_param('~angular_delta', 0.03)
self.linear_delta = rospy.get_param('~linear_delta', 0.005)
self.angular_delta = rospy.get_param('~angular_delta', 0.01)
# TF listener
self.listener = tf.TransformListener()
# Publishers
@@ -37,5 +37,18 @@
delta: 0.01
</rosparam>
</test>
<test test-name="ur5_frame_jog" pkg="jog_controller" type="test_jog_frame.py">
<rosparam>
controller_name: arm_controller
action_name: follow_joint_trajectory
joint_names: [shoulder_pan_joint, shoulder_lift_joint, elbow_joint, wrist_1_joint, wrist_2_joint, wrist_3_joint]
home_positions: [0.0, -1.0, 1.6, 0.0, 0, 0]
frame_id: base_link
group_name: manipulator
link_name: ee_link
lienar_delta: 0.005
angular_delta: 0.01
</rosparam>
</test>
</launch>

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