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Fix instabilities in JTC unittests #457

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Merged
merged 25 commits into from
Feb 19, 2020
Merged

Fix instabilities in JTC unittests #457

merged 25 commits into from
Feb 19, 2020

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martiniil
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@martiniil martiniil commented Feb 12, 2020 •
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The unittests of the joint_trajectory_controller are highly unstable. See #344 and recent Travis logs.

This PR aims to stabilize the existing test cases in unittest_joint_trajectory_controller.cpp.

  • Introduced waiting-functions in order to make the tests more deterministic. E.g.
    • wait for start of trajectory execution
    • wait for stop
    • wait for action result
    • wait for (smoothing/delay-)parameter updated.
  • Fix how we assert that controller is running (especially after reloading)
  • Increased time-limits
  • Revised all test cases (especially stop-ramp tests).

@martiniil martiniil mentioned this pull request Feb 12, 2020
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@martiniil martiniil mentioned this pull request Feb 14, 2020
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bmagyar
bmagyar requested changes Feb 18, 2020
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This is only half of my review

@martiniil martiniil mentioned this pull request Feb 18, 2020
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bmagyar
bmagyar approved these changes Feb 19, 2020
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Thank you so much for this, this is great!

@bmagyar bmagyar merged commit 0c3f608 into ros-controls:melodic-devel Feb 19, 2020
@bmagyar bmagyar mentioned this pull request Feb 19, 2020
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@martiniil martiniil deleted the fix/jtc_test branch February 20, 2020 08:16
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