From 725a5405b3b797a85aff3d291dd898a6df73bc10 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=C3=81ron=20Svastits?= <49677296+Svastits@users.noreply.github.com> Date: Thu, 29 Feb 2024 09:43:31 +0100 Subject: [PATCH] Readd activation test for iiQKA (#146) * updat wiki * readd activation test --------- Co-authored-by: Aron Svastits --- doc/wiki/KSS_RSI.md | 2 +- doc/wiki/Sunrise_FRI.md | 2 +- doc/wiki/iiQKA_EAC.md | 2 +- kuka_iiqka_eac_driver/CMakeLists.txt | 3 +-- 4 files changed, 4 insertions(+), 5 deletions(-) diff --git a/doc/wiki/KSS_RSI.md b/doc/wiki/KSS_RSI.md index edfb29eb..51bb886e 100644 --- a/doc/wiki/KSS_RSI.md +++ b/doc/wiki/KSS_RSI.md @@ -112,7 +112,7 @@ Both launch files support the following arguments: - `client_ip`: IP address of the client machine - `client_port`: port of the client machine (default: 59152) - `robot_model` and `robot_family`: defines which robot to use. The available options for the valid model and family combinations can be found in the [readme](https://github.com/kroshu/kuka_robot_descriptions?tab=readme-ov-file#what-data-is-verified) of the `kuka_robot_descriptions` repository. -- `use_fake_hardware`: if true, the `mock_components/GenericSystem` will be used instead of the `KukaRSIHardwareInterface`. This enables trying out the driver without actual hardware. +- `use_fake_hardware`: if true, the `KukaMockHardwareInterface` will be used instead of the `KukaRSIHardwareInterface`. This enables trying out the driver without actual hardware. - `namespace`: adds a namespace to all nodes and controllers of the driver, and modifies the `prefix` argument of the robot description macro to `namespace_` - `x`, `y`, `z`: define the position of `base_link` relative to the `world` frame (default: [0, 0, 0]) - `roll`, `pitch`, `yaw`: define the orientation of `base_link` relative to the `world` frame (default: [0, 0, 0]) diff --git a/doc/wiki/Sunrise_FRI.md b/doc/wiki/Sunrise_FRI.md index b830916a..b46f81de 100644 --- a/doc/wiki/Sunrise_FRI.md +++ b/doc/wiki/Sunrise_FRI.md @@ -61,7 +61,7 @@ On successful activation the brakes of the robot will be released and external c Both launch files support the following argument: - `controller_ip`: IP address of the robot controller - `robot_model`: defines which LBR iiwa robot to use. Available options: `lbr_iiwa14_r820` (default) -- `use_fake_hardware`: if true, the `mock_components/GenericSystem` will be used instead of the `KukaFRIHardwareInterface`. This enables trying out the driver without actual hardware. +- `use_fake_hardware`: if true, the `KukaMockHardwareInterface` will be used instead of the `KukaFRIHardwareInterface`. This enables trying out the driver without actual hardware. - `namespace`: adds a namespace to all nodes and controllers of the driver, and modifies the `prefix` argument of the robot description macro to `namespace_` - `x`, `y`, `z`: define the position of `base_link` relative to the `world` frame (default: [0, 0, 0]) - `roll`, `pitch`, `yaw`: define the orientation of `base_link` relative to the `world` frame (default: [0, 0, 0]) diff --git a/doc/wiki/iiQKA_EAC.md b/doc/wiki/iiQKA_EAC.md index b5a7dc9a..399c7cc7 100644 --- a/doc/wiki/iiQKA_EAC.md +++ b/doc/wiki/iiQKA_EAC.md @@ -72,7 +72,7 @@ Both launch files support the following arguments: - `client_ip`: IP address of the client machine - `controller_ip`: KONI IP of the controller - `robot_model`: defines which LBR iisy robot to use. Available options: `lbr_iisy3_r760` (default), `lbr_iisy11_r1300`, `lbr_iisy15_r930` -- `use_fake_hardware`: if true, the `mock_components/GenericSystem` will be used instead of the `KukaEACHardwareInterface`. This enables trying out the driver without actual hardware. +- `use_fake_hardware`: if true, the `KukaMockHardwareInterface` will be used instead of the `KukaEACHardwareInterface`. This enables trying out the driver without actual hardware. - `namespace`: adds a namespace to all nodes and controllers of the driver, and modifies the `prefix` argument of the robot description macro to `namespace_` - `x`, `y`, `z`: define the position of `base_link` relative to the `world` frame (default: [0, 0, 0]) - `roll`, `pitch`, `yaw`: define the orientation of `base_link` relative to the `world` frame (default: [0, 0, 0]) diff --git a/kuka_iiqka_eac_driver/CMakeLists.txt b/kuka_iiqka_eac_driver/CMakeLists.txt index 2c7b5c7a..fdc3194e 100644 --- a/kuka_iiqka_eac_driver/CMakeLists.txt +++ b/kuka_iiqka_eac_driver/CMakeLists.txt @@ -67,8 +67,7 @@ install(DIRECTORY config launch test if(BUILD_TESTING) find_package(launch_testing_ament_cmake) add_launch_test(test/test_driver_startup.py) - # TODO: re-add activation test, if KUKA mock hardware is finished - # add_launch_test(test/test_driver_activation.py) + add_launch_test(test/test_driver_activation.py) add_launch_test(test/test_multi_robot_startup.py) endif()