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feat(franka_gazebo): implement set_franka_model_configuration service #226

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merged 2 commits into from
Jan 5, 2024

fix: ensure changes work with new upstream

bae0507
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Merged

feat(franka_gazebo): implement set_franka_model_configuration service #226

fix: ensure changes work with new upstream
bae0507
Select commit
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GitHub Actions / ROS-Unit Tests succeeded Jan 4, 2024 in 0s

ROS-Unit Tests ✅

Tests passed successfully

Report Passed Failed Skipped Time
franka_gazebo/rosunit-franka_gripper_sim_test_with_object.xml 15✅ 5s
franka_gazebo/rosunit-franka_gripper_sim_test.xml 29✅ 0ms
franka_gazebo/rosunit-franka_hw_sim_gazebo_test.xml 22✅ 12s
franka_gazebo/rosunit-franka_hw_sim_test.xml 37✅ 11s
franka_hw/rosunit-franka_hw_test.xml 63✅ 17s

✅ franka_gazebo/rosunit-franka_gripper_sim_test_with_object.xml

15 tests were completed in 5s with 15 passed, 0 failed and 0 skipped.

Test suite Passed Failed Skipped Time
DISABLED_GripperFailGraspFixtureTest/GripperFailGraspFixtureTest 6✅ 0ms
DISABLED_GripperGraspFixtureTest/GripperGraspFixtureTest 8✅ 0ms
GripperSimTestSetup 1✅ 5s

✅ DISABLED_GripperFailGraspFixtureTest/GripperFailGraspFixtureTest

✅ CanFailGrasp/0
✅ CanFailGrasp/1
✅ CanFailGrasp/2
✅ CanFailGrasp/3
✅ CanFailGrasp/4
✅ CanFailGrasp/5

✅ DISABLED_GripperGraspFixtureTest/GripperGraspFixtureTest

✅ CanGrasp/0
✅ CanGrasp/1
✅ CanGrasp/2
✅ CanGrasp/3
✅ CanGrasp/4
✅ CanGrasp/5
✅ CanGrasp/6
✅ CanGrasp/7

✅ GripperSimTestSetup

✅ FailMove

✅ franka_gazebo/rosunit-franka_gripper_sim_test.xml

29 tests were completed in 0ms with 29 passed, 0 failed and 0 skipped.

Test suite Passed Failed Skipped Time
DISABLED_GripperFailMoveFixtureTest/GripperFailMoveFixtureTest 4✅ 0ms
DISABLED_GripperGraspFixtureTest/GripperGraspFixtureTest 4✅ 0ms
DISABLED_GripperGraspZeroFixtureTest/GripperGraspZeroFixtureTest 10✅ 0ms
DISABLED_GripperHomingFixtureTest/GripperHomingFixtureTest 5✅ 0ms
DISABLED_GripperMoveFixtureTest/GripperMoveFixtureTest 6✅ 0ms

✅ DISABLED_GripperFailMoveFixtureTest/GripperFailMoveFixtureTest

✅ FailMove/0
✅ FailMove/1
✅ FailMove/2
✅ FailMove/3

✅ DISABLED_GripperGraspFixtureTest/GripperGraspFixtureTest

✅ CanFailGraspGoesToClosedState/0
✅ CanFailGraspGoesToClosedState/1
✅ CanFailGraspGoesToClosedState/2
✅ CanFailGraspGoesToClosedState/3

✅ DISABLED_GripperGraspZeroFixtureTest/GripperGraspZeroFixtureTest

✅ CanSucceedGraspGoesToClosedState/0
✅ CanSucceedGraspGoesToClosedState/1
✅ CanSucceedGraspGoesToClosedState/2
✅ CanSucceedGraspGoesToClosedState/3
✅ CanSucceedGraspGoesToClosedState/4
✅ CanSucceedGraspGoesToClosedState/5
✅ CanSucceedGraspGoesToClosedState/6
✅ CanSucceedGraspGoesToClosedState/7
✅ CanSucceedGraspGoesToClosedState/8
✅ CanSucceedGraspGoesToClosedState/9

✅ DISABLED_GripperHomingFixtureTest/GripperHomingFixtureTest

✅ CanPerformHoming/0
✅ CanPerformHoming/1
✅ CanPerformHoming/2
✅ CanPerformHoming/3
✅ CanPerformHoming/4

✅ DISABLED_GripperMoveFixtureTest/GripperMoveFixtureTest

✅ CanPerformMove/0
✅ CanPerformMove/1
✅ CanPerformMove/2
✅ CanPerformMove/3
✅ CanPerformMove/4
✅ CanPerformMove/5

✅ franka_gazebo/rosunit-franka_hw_sim_gazebo_test.xml

22 tests were completed in 12s with 22 passed, 0 failed and 0 skipped.

Test suite Passed Failed Skipped Time
FrankaHWSim 1✅ 0ms
FrankaHWSimFixture 2✅ 12s
StateMachineFixture 19✅ 2ms

✅ FrankaHWSim

✅ DISABLED_franka_hw_sim_compensates_gravity_on_F_ext

✅ FrankaHWSimFixture

✅ pressing_user_stop_stops_the_arm_joints
✅ pressing_user_stop_lets_finger_joints_still_move

✅ StateMachineFixture

✅ statemachine_initializes_in_Idle
✅ statemachine_switches_from_Idle_to_Move_on_error_recovery_event
✅ statemachine_switches_from_Idle_to_UserStopped_if_user_stop_is_pressed
✅ statemachine_switches_from_Move_to_UserStopped_on_user_stop_event
✅ statemachine_stays_in_Move_on_user_stop_event
✅ statemachine_stays_in_Move_on_error_recovery_event
✅ statemachine_stays_in_UserStopped_if_user_stop_still_pressed
✅ statemachine_switches_from_UserStopped_to_Idle_if_user_stop_is_released
✅ statemachine_switches_from_Idle_to_Move_if_joints_are_controlled
✅ statemachine_switches_from_Move_to_Idle_if_joints_are_uncontrolled
✅ statemachine_stays_in_Idle_if_only_finger_joints_are_controlled
✅ statemachine_stays_in_Move_if_only_finger_joints_are_uncontrolled
✅ statemachine_updates_robot_mode_when_switching_from_Idle_to_Move
✅ statemachine_updates_robot_mode_when_switching_from_Move_to_Idle
✅ statemachine_updates_robot_mode_when_switching_from_Idle_to_UserStopped
✅ statemachine_updates_robot_mode_when_switching_from_Move_to_UserStopped
✅ statemachine_updates_robot_mode_when_switching_from_UserStopped_to_Idle
✅ statemachine_resets_desired_control_signals_when_switching_from_Idle_to_UserStopped
✅ statemachine_resets_desired_control_signals_when_switching_from_Move_to_UserStopped

✅ franka_gazebo/rosunit-franka_hw_sim_test.xml

37 tests were completed in 11s with 37 passed, 0 failed and 0 skipped.

Test suite Passed Failed Skipped Time
FkFixture 9✅ 3s
GravityFixture 4✅ 1s
JacobianFixture 24✅ 7s

✅ FkFixture

✅ fk_joint1_zero_pose
✅ fk_joint2_zero_pose
✅ fk_joint3_zero_pose
✅ fk_joint4_zero_pose
✅ fk_joint5_zero_pose
✅ fk_joint6_zero_pose
✅ fk_joint7_zero_pose
✅ fk_flange_zero_pose
✅ fk_flange_random_pose

✅ GravityFixture

✅ gravity_default_zero_pose
✅ gravity_default_random_pose
✅ gravity_sideways_zero_pose
✅ gravity_sideways_random_pose

✅ JacobianFixture

✅ zero_jacobian_joint1_zero_pose
✅ zero_jacobian_joint2_zero_pose
✅ zero_jacobian_joint3_zero_pose
✅ zero_jacobian_joint4_zero_pose
✅ zero_jacobian_joint5_zero_pose
✅ zero_jacobian_joint6_zero_pose
✅ zero_jacobian_joint7_zero_pose
✅ zero_jacobian_flange_zero_pose
✅ zero_jacobian_flange_elbow_bend_90deg
✅ zero_jacobian_flange_elbow_bend_120deg
✅ zero_jacobian_flange_shoulder_panned_35deg_and_tilted_minus17deg
✅ zero_jacobian_flange_random_pose
✅ body_jacobian_joint1_zero_pose
✅ body_jacobian_joint2_zero_pose
✅ body_jacobian_joint3_zero_pose
✅ body_jacobian_joint4_zero_pose
✅ body_jacobian_joint5_zero_pose
✅ body_jacobian_joint6_zero_pose
✅ body_jacobian_joint7_zero_pose
✅ body_jacobian_flange_zero_pose
✅ body_jacobian_flange_elbow_bend_90deg
✅ body_jacobian_flange_elbow_bend_120deg
✅ body_jacobian_flange_shoulder_panned_35deg_and_tilted_minus17deg
✅ body_jacobian_flange_random_pose

✅ franka_hw/rosunit-franka_hw_test.xml

63 tests were completed in 17s with 63 passed, 0 failed and 0 skipped.

Test suite Passed Failed Skipped Time
admissibleRequests/NoControllerConflict 20✅ 6s
combinableAdmissibleRequests/CombinableNoControllerConflict 4✅ 847ms
combinableNonAdmissibleRequests/CombinableControllerConflict 22✅ 5s
FrankaCombinableHWTests 1✅ 212ms
FrankaHWTests 2✅ 524ms
nonAdmissibleRequests/ControllerConflict 14✅ 4s

✅ admissibleRequests/NoControllerConflict

✅ DoesNotConflictForCompatibleControllers/0
✅ DoesNotConflictForCompatibleControllers/1
✅ DoesNotConflictForCompatibleControllers/2
✅ DoesNotConflictForCompatibleControllers/3
✅ DoesNotConflictForCompatibleControllers/4
✅ DoesNotConflictForCompatibleControllers/5
✅ DoesNotConflictForCompatibleControllers/6
✅ DoesNotConflictForCompatibleControllers/7
✅ DoesNotConflictForCompatibleControllers/8
✅ DoesNotConflictForCompatibleControllers/9
✅ CanPrepareSwitchForCompatibleControllers/0
✅ CanPrepareSwitchForCompatibleControllers/1
✅ CanPrepareSwitchForCompatibleControllers/2
✅ CanPrepareSwitchForCompatibleControllers/3
✅ CanPrepareSwitchForCompatibleControllers/4
✅ CanPrepareSwitchForCompatibleControllers/5
✅ CanPrepareSwitchForCompatibleControllers/6
✅ CanPrepareSwitchForCompatibleControllers/7
✅ CanPrepareSwitchForCompatibleControllers/8
✅ CanPrepareSwitchForCompatibleControllers/9

✅ combinableAdmissibleRequests/CombinableNoControllerConflict

✅ DoesNotConflictForCompatibleControllers/0
✅ DoesNotConflictForCompatibleControllers/1
✅ CanPrepareSwitchForCompatibleControllers/0
✅ CanPrepareSwitchForCompatibleControllers/1

✅ combinableNonAdmissibleRequests/CombinableControllerConflict

✅ ConflictsForIncompatibleControllers/0
✅ ConflictsForIncompatibleControllers/1
✅ ConflictsForIncompatibleControllers/2
✅ ConflictsForIncompatibleControllers/3
✅ ConflictsForIncompatibleControllers/4
✅ ConflictsForIncompatibleControllers/5
✅ ConflictsForIncompatibleControllers/6
✅ ConflictsForIncompatibleControllers/7
✅ ConflictsForIncompatibleControllers/8
✅ ConflictsForIncompatibleControllers/9
✅ ConflictsForIncompatibleControllers/10
✅ ConflictsForIncompatibleControllers/11
✅ ConflictsForIncompatibleControllers/12
✅ ConflictsForIncompatibleControllers/13
✅ ConflictsForIncompatibleControllers/14
✅ ConflictsForIncompatibleControllers/15
✅ ConflictsForIncompatibleControllers/16
✅ ConflictsForIncompatibleControllers/17
✅ ConflictsForIncompatibleControllers/18
✅ ConflictsForIncompatibleControllers/19
✅ ConflictsForIncompatibleControllers/20
✅ ConflictsForIncompatibleControllers/21

✅ FrankaCombinableHWTests

✅ CanInitROSInterfaces

✅ FrankaHWTests

✅ InterfacesWorkForReadAndCommand
✅ JointLimitInterfacesEnforceLimitsOnCommands

✅ nonAdmissibleRequests/ControllerConflict

✅ ConflictsForIncompatibleControllers/0
✅ ConflictsForIncompatibleControllers/1
✅ ConflictsForIncompatibleControllers/2
✅ ConflictsForIncompatibleControllers/3
✅ ConflictsForIncompatibleControllers/4
✅ ConflictsForIncompatibleControllers/5
✅ ConflictsForIncompatibleControllers/6
✅ ConflictsForIncompatibleControllers/7
✅ ConflictsForIncompatibleControllers/8
✅ ConflictsForIncompatibleControllers/9
✅ ConflictsForIncompatibleControllers/10
✅ ConflictsForIncompatibleControllers/11
✅ ConflictsForIncompatibleControllers/12
✅ ConflictsForIncompatibleControllers/13
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