Add integration tests for automated testing #209
Conversation
| -p 30001-30004:30001-30004 \ | ||
| -v "${DIR}/.vol":/ursim/programs \ | ||
| -v dockursim:/ursim \ | ||
| --privileged \ |
There was a problem hiding this comment.
This is a bit unfortunate, but apparently URControl cannot be started without it.
There was a problem hiding this comment.
I agree with both points.
| maxMomentum = 25.0 | ||
| maxJointSpeed = [3.3415926, 3.3415926, 3.3415926, 3.3415926, 3.3415926, 3.3415926] | ||
| minJointPosition = [6.2308254, 6.2308254, 6.2308254, 6.2308254, 6.2308254, 6.2308254] | ||
| maxJointPosition = [0.05235988, 0.05235988, 0.05235988, 0.05235988, 0.05235988, 0.05235988] |
There was a problem hiding this comment.
No! Thanks for spotting that! I've been playing around with the safety settings before exporting this file. That should be changed.
There was a problem hiding this comment.
Perhaps import a vanilla (ie: just extracted from the ursim archive) version of the file?
There was a problem hiding this comment.
Update: Yes, it is correct. I just downloaded it from a robot with default safety configuration.
There was a problem hiding this comment.
Perhaps import a vanilla (ie: just extracted from the ursim archive) version of the file?
In fact in the archive this file is empty so that the user has to confirm it first. This is why we actually do that step.
| super(TrajectoryTest, self).__init__(*args) | ||
| rospy.init_node('trajectory_testing_client') | ||
| self.client = actionlib.SimpleActionClient( | ||
| '/scaled_pos_traj_controller/follow_joint_trajectory', FollowJointTrajectoryAction) |
There was a problem hiding this comment.
Instead of hard-coding the topic name, it might be nicer to only spec follow_joint_trajectory here and then remap in the .test file.
fmauch
force-pushed
the
testing_scripts
branch
3 times, most recently
from
3ab5899 to
88c539e
Compare
Run docker ursim externally in GH action
I want to see whether the tests actually fail
3 participants
This PR adds automated integration tests to the CI pipeline
As the integration tests require a running robot where the driver connects to, we launch a ursim inside a docker container during the github actions run. To run the tests locally, users would have to make sure to provide a running instance reachable at the used IP address.