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increase stall_velocity_threshold to pass grasp test #338

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merged 16 commits into from
Apr 6, 2018
Merged

increase stall_velocity_threshold to pass grasp test #338

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70638ce
increase stall_velocity_threshold to pass grasp test
k-okada Apr 2, 2018
0f631b8
add retry=2
k-okada Apr 2, 2018
1a9422b
add pr2_gazebo and robot_state_publisher to test_depend
k-okada Apr 2, 2018
f7d0c2c
skip pr2eus_moveit from test
k-okada Apr 3, 2018
f96a1de
use jenkins
k-okada Apr 3, 2018
e08a9a8
fix .travis.yml settings, use sudo: false
k-okada Apr 3, 2018
0759ef1
pr2-ri-test.launch : shorten time-limit to 300
k-okada Apr 4, 2018
cc778f0
do wait for gripper-action if we already miss to wait the arm server
k-okada Apr 4, 2018
790032f
check if simulation-mode before init-test, to detect if rostset gazeb…
k-okada Apr 4, 2018
9e8bb77
increase retry number
k-okada Apr 4, 2018
6d01c72
set DISPLAY='' when gui is false
k-okada Apr 4, 2018
fb0af28
use docker and disable USE_DEB=false
k-okada Apr 4, 2018
b7a67f1
add services: docker
k-okada Apr 4, 2018
fc3863c
re-enable jenki
k-okada Apr 4, 2018
97da75b
disable services: docker
k-okada Apr 4, 2018
13fefff
hydro/indigo run on travis, jade/kinetic run on jenkins
k-okada Apr 5, 2018
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24 changes: 9 additions & 15 deletions .travis.yml
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Original file line number Diff line number Diff line change
@@ -1,6 +1,9 @@
sudo: true
language: c++
sudo: required
dist: trusty
python:
- "2.7"
compiler:
- gcc
services:
- docker
notifications:
Expand All @@ -13,26 +16,17 @@ env:
- secure: "REUwDilheEXGFShSdFNgQ1rRAFBw2QG2eT8XDAQsDFyhPfCnjGDA1Ak25TbVIz4a02M9/hDP4QtsXFj6VRHVs4tV55zrGeLea06+Fw8vjHEICYVtfzYYvZB3pHnWoxxPUcQTU+CgTMGV3lLSupMgvyNNY8J6UdaiW8+Oj7icHc4="
- ROSWS=wstool
- BUILDER=catkin
- USE_DOCKER=true
- CATKIN_PARALLEL_TEST_JOBS="-j1 -p1"
- ROS_PARALLEL_TEST_JOBS="-j1"
matrix:
- ROS_DISTRO=hydro USE_DEB=true
- ROS_DISTRO=hydro USE_DEB=false
- ROS_DISTRO=indigo USE_DEB=true EXTRA_DEB="ros-indigo-pr2-gazebo"
- ROS_DISTRO=indigo USE_DEB=false
- ROS_DISTRO=jade USE_DEB=true
- ROS_DISTRO=jade USE_DEB=false
- ROS_DISTRO=kinetic USE_DEB=true
- ROS_DISTRO=kinetic USE_DEB=false
- ROS_DISTRO=hydro USE_DEB=true USE_DOCKER=true
- ROS_DISTRO=indigo USE_DEB=true USE_DOCKER=true EXTRA_DEB="ros-indigo-pr2-gazebo"
- ROS_DISTRO=jade USE_DEB=true USE_JENKINS=true
- ROS_DISTRO=kinetic USE_DEB=true USE_JENKINS=true TEST_PKGS="pr2eus" # skip pr2eus_moveit pr2eus_tutorials
matrix:
fast_finish: true
allow_failures:
- env: ROS_DISTRO=hydro USE_DEB=true
- env: ROS_DISTRO=hydro USE_DEB=false
- env: ROS_DISTRO=indigo USE_DEB=false
- env: ROS_DISTRO=jade USE_DEB=false
- env: ROS_DISTRO=kinetic USE_DEB=false
script: source .travis/travis.sh
after_success:
- TRAVIS_JOB_SUBNUMBER="${TRAVIS_JOB_NUMBER##*.}"
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7 changes: 5 additions & 2 deletions pr2eus/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -11,7 +11,6 @@
<buildtool_depend>catkin</buildtool_depend>

<build_depend>roseus</build_depend>
<build_depend>rostest</build_depend>
<build_depend>euscollada</build_depend>
<build_depend>pr2_msgs</build_depend>
<build_depend>pr2_controllers_msgs</build_depend>
Expand All @@ -25,7 +24,6 @@
<build_depend>rosgraph_msgs</build_depend>

<run_depend>roseus</run_depend>
<run_depend>rostest</run_depend>
<run_depend>euscollada</run_depend>
<run_depend>pr2_msgs</run_depend>
<run_depend>pr2_controllers_msgs</run_depend>
Expand All @@ -37,6 +35,11 @@
<run_depend>dynamic_reconfigure</run_depend>
<run_depend>sound_play</run_depend>

<!-- Dependencies needed only for running tests. -->
<test_depend>rostest</test_depend>
<test_depend>pr2_gazebo</test_depend>
<test_depend>robot_state_publisher</test_depend>

<export>
<pr2eus robot-name="pr2" interface-file="${prefix}/pr2-interface.l" />
</export>
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1 change: 0 additions & 1 deletion pr2eus/pr2-interface.l
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Original file line number Diff line number Diff line change
Expand Up @@ -79,7 +79,6 @@
pr2_controllers_msgs::Pr2GripperCommandAction
:groupname groupname))
;; wait for pr2-action server (except move_base)
(setq joint-action-enable t)
(dolist (action (list r-gripper-action l-gripper-action))
(unless (and joint-action-enable (send action :wait-for-server 3))
(setq joint-action-enable nil)
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8 changes: 6 additions & 2 deletions pr2eus/test/pr2-ri-test.l
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Original file line number Diff line number Diff line change
@@ -1,13 +1,17 @@
(require :unittest "lib/llib/unittest.l")
(load "package://pr2eus/pr2-interface.l")

(init-unit-test)

(setq *pr2* (pr2))

(while (or (not (boundp '*ri*)) (send *ri* :simulation-modep))
(setq *ri* (instance pr2-interface :init)))

(when (send *ri* :simulation-modep)
(ros::ros-warn "*ri* is running with simulation mode, something goes wrong ....")
(sys::exit 1))

(init-unit-test)

(deftest test-wait-interpolation
(ros::ros-info "send reset-pose and wait-interpolation")
(assert (send *pr2* :reset-pose))
Expand Down
9 changes: 6 additions & 3 deletions pr2eus/test/pr2-ri-test.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -4,8 +4,9 @@
<!-- include file="$(find gazebo_worlds)/launch/empty_world_paused.launch" -->
<!-- set use_sim_time flag -->
<param name="/use_sim_time" value="true" />
<env name="DISPLAY" value=":0.0" />
<arg name="gui" default="false"/>
<env name="DISPLAY" value=":0.0" if="$(arg gui)"/>
<env name="DISPLAY" value="" unless="$(arg gui)"/>

<!-- start empty world -->
<node name="gazebo" pkg="gazebo_ros" type="gzserver" args="-r worlds/empty.world" respawn="true" output="screen"/>
Expand All @@ -15,8 +16,10 @@

<!-- start pr2 robot -->
<include file="$(find pr2_gazebo)/launch/pr2.launch"/>
<param name="/l_gripper_controller/gripper_action_node/stall_velocity_threshold" value="1.0" /> <!-- 0.33 -->
<param name="/r_gripper_controller/gripper_action_node/stall_velocity_threshold" value="1.0" />

<!-- start test -->
<test test-name="pr2_ri_test" pkg="roseus" type="roseus"
args="$(find pr2eus)/test/pr2-ri-test.l" time-limit="1800" />
<test test-name="pr2_ri_test" pkg="roseus" type="roseus" retry="5"
args="$(find pr2eus)/test/pr2-ri-test.l" time-limit="300" />
</launch>