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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

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155779a
Rename initState() -> waitForInitializedState()
martiniil Feb 10, 2020
c8adddb
Rename waitForState() -> waitForActionGoalState()
martiniil Feb 10, 2020
97b84d3
Increase sleep time in wait-functions
martiniil Feb 10, 2020
6c7ca2f
Introduce (hopefully) better timeouts
martiniil Feb 10, 2020
7e6afdf
Remove guessing of publisher delay
martiniil Feb 10, 2020
d489083
Separate waiting for traj and waiting for goal state
martiniil Feb 10, 2020
78f18d1
Sleep during traj execution
martiniil Feb 10, 2020
41e3cfa
Try to make unittest more stable
martiniil Feb 11, 2020
46c339c
Rename constants
martiniil Feb 12, 2020
be17b15
Notify test about successful parameter update
martiniil Feb 12, 2020
1833d26
Make stopramp tests more stable
martiniil Feb 12, 2020
5b51bbf
Introduce EPS for general double comparison
martiniil Feb 13, 2020
0038594
Fix how we assert that controller is running
martiniil Feb 13, 2020
af9f8fc
Minor fixes
martiniil Feb 13, 2020
a4c6fcd
Add traj execution time to wait-periods
martiniil Feb 13, 2020
894bd53
Add missing EPS to double comparison
martiniil Feb 13, 2020
4a2847a
Repeat stop-check to be sure the values have settled
martiniil Feb 13, 2020
8d3270c
Wait for stop when goal is aborted
martiniil Feb 13, 2020
cfeba3e
Fix return statement
martiniil Feb 13, 2020
519f9b6
Execution does not stop when goal gets aborted
martiniil Feb 13, 2020
466631e
Comment out tolerance check tests until #48 is solved.
martiniil Feb 14, 2020
51f0d4e
Let getState() return by value
martiniil Feb 18, 2020
bb795ce
Make initialization of variables consistent
martiniil Feb 18, 2020
6781ddc
Re-enable tolerance tests
martiniil Feb 19, 2020
5aa19e2
Add test_common.h
martiniil Feb 19, 2020
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9 changes: 6 additions & 3 deletions joint_trajectory_controller/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -98,17 +98,20 @@ if(CATKIN_ENABLE_TESTING)

add_rostest_gtest(joint_trajectory_controller_test
test/joint_trajectory_controller.test
test/joint_trajectory_controller_test.cpp)
test/joint_trajectory_controller_test.cpp
test/test_common.cpp)
target_link_libraries(joint_trajectory_controller_test ${catkin_LIBRARIES})

add_rostest_gtest(joint_trajectory_controller_stopramp_test
test/joint_trajectory_controller_stopramp.test
test/joint_trajectory_controller_test.cpp)
test/joint_trajectory_controller_test.cpp
test/test_common.cpp)
target_link_libraries(joint_trajectory_controller_stopramp_test ${catkin_LIBRARIES})

add_rostest_gtest(joint_trajectory_controller_vel_test
test/joint_trajectory_controller_vel.test
test/joint_trajectory_controller_test.cpp)
test/joint_trajectory_controller_test.cpp
test/test_common.cpp)
target_link_libraries(joint_trajectory_controller_vel_test ${catkin_LIBRARIES})
target_compile_definitions(joint_trajectory_controller_vel_test PRIVATE TEST_VELOCITY_FF=1)

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2 changes: 1 addition & 1 deletion joint_trajectory_controller/test/joint_trajectory_controller.test
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Expand Up @@ -37,5 +37,5 @@
pkg="joint_trajectory_controller"
type="joint_trajectory_controller_test"
args='--gtest_filter="$(arg gtest_filter)"'
time-limit="85.0"/>
time-limit="250.0"/>
</launch>
2 changes: 1 addition & 1 deletion joint_trajectory_controller/test/joint_trajectory_controller_stopramp.test
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Original file line number Diff line number Diff line change
Expand Up @@ -37,5 +37,5 @@
pkg="joint_trajectory_controller"
type="joint_trajectory_controller_stopramp_test"
args='--gtest_filter="$(arg gtest_filter)"'
time-limit="85.0"/>
time-limit="250.0"/>
</launch>
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