Add activation tests for iiqka and kss drivers (#138)

* fix doc

* add test that also activates the driver

* add activation test for rsi

* fix effort controller name

* run Ci weekly

* add test_depend

* add kuka_controllers as exec_depend

* fix depends

* try test_depend

* add upstream

* try hacky upstream ws solution

* fix deps

* format

* fix md and add ptp home

* remove post_shutdown

* extend md with krl home pos

---------

Co-authored-by: Aron Svastits <svastits1@gmail.com>

.github/workflows/industrial_ci.yml

@@ -22,6 +22,10 @@ on:
     branches:
       - master
 
+  schedule:
+    # Run every Monday at 1PM UTC
+    - cron: 0 13 * * 1
+
 jobs:
   industrial_ci:
     name: ROS-Industrial CI
@@ -32,7 +36,9 @@ jobs:
           BUILDER: colcon
           ANALYZER: sonarqube
           TEST_COVERAGE: true
-          UPSTREAM_WORKSPACE: 'github:kroshu/kuka_robot_descriptions#master'
+          # Hacky solution needed to be able to build upstream WS:
+          #  kuka_driver_interfaces and kuka_drivers_core must be also added to upstream
+          UPSTREAM_WORKSPACE: 'github:kroshu/kuka_robot_descriptions#master github:kroshu/kuka_controllers#master github:kroshu/kuka_drivers#master -kuka_drivers/examples -kuka_drivers/kuka_drivers -kuka_drivers/kuka_iiqka_eac_driver -kuka_drivers/kuka_kss_rsi_driver -kuka_drivers/kuka_sunrise_fri_driver'
           CMAKE_ARGS: '-DMOCK_FRI=ON'
           ROS_DISTRO: humble
     env:

doc/wiki/KSS_RSI.md

@@ -22,22 +22,13 @@ Windows runs behind the SmartHMI on the teach pad. Make sure that the **Windows
    There should already be an interface checked out as the **Windows interface**.
    - **Windows interface checkbox** should be checked.
 2. Add a new network for RSI:
-
-   **KRC4:**
-   - Minimize the SmartHMI (**Start-up > Service > Minimize HMI**).
-   - Run **RSI-Network** from the Windows Start menu (**All Programs > RSI-Network**).
-   - Check that the **Network - Kuka User Interface** shows the Windows interface with the specified IP address.
-   - Add a new IP address on another subnet for the **RSI interface**.
-     - Select the entry **New** under **RSI Ethernet** in the tree structure and press **Edit**.
-     - Enter the IP address and confirm with **OK**.
-     - Close **RSI-Network** and maximize the SmartHMI.
-
-   **KRC5:**
-   - Press the **Advanced** button and **New interface**.
-   - Select **Mixed IP address** and keep the default **Receiving task: Target subnet** and **Real-time receiving Task: UDP**
-   - Set the IP address to a different subnet then the **KLI interface**.
-     - **Default gateway**: leave it empty
-     - **Windows interface checkbox** should NOT be checked
+  - Press the **Advanced** button and **New interface**.
+  - Select **Mixed IP address** and keep the default settings:
+    - **Receiving task: Target subnet**
+    - **Real-time receiving Task: UDP**
+  - Set the IP address to a different subnet then the **KLI interface**.
+    - **Default gateway**: leave it empty
+    - **Windows interface checkbox** should NOT be checked
 
 3. Reboot the controller with a cold restart (**Shutdown > Check *Force cold start* and *Reload files* > Reboot control PC**).
 
@@ -48,7 +39,7 @@ There are 3 files necessary for RSI that are available in the `krl` directory:
   - The `IP_NUMBER` tag should be modified so that it corresponds to the IP address previously added for your (real-time) PC.
   - The `PORT` might be left as it is (59152), but can be also changed if a different port is to be used on the client machine.
 
-- `ros_rsi.src`: This contains the KRL program that starts external control and should not be modified.
+- `ros_rsi.src`: This contains the KRL program that starts external control. The program contains a movement to the (0, -90, 90, 0, 90, 0) position, as the first motion instruction in a KRL program must define an unambiguous starting position. The goal position might be modified if necessary, the other parts of the program should be left unchanged.
 - `ros_rsi.rsix`: This contains the RSI context (can be visualized with **RSIVisual**). It can be modified for example to add filtering behaviour, but this is not recommended and should be implemented on the client side instead.
   - For older RSI versions (<=4.0.3), the context can only be defined in 3 different files: `ros_rsi.rsi.xml`, `ros_rsi.rsi.diagram` and `ros_rsi.rsi`, these can be found under `krl/deprecated`. In this case, these 3 files should be copied to the controller instead of the `ros_rsi.rsix`.
 

doc/wiki/iiQKA_EAC.md

@@ -47,7 +47,7 @@ The IP address of the client machine and robot controller must be provided as a
 To start the driver, two launch file are available, with and without `rviz`. To launch (without `rviz`), run:
 
 ```
-ros2 launch kuka_iiqka_eac_driver startup.launch.py client_ip:=0.0.0.0 controller_ip=0.0.0.0
+ros2 launch kuka_iiqka_eac_driver startup.launch.py client_ip:=0.0.0.0 controller_ip:=0.0.0.0
 ```
 
 This starts the 3 core components of every driver (described in the *Non-real-time interface* section of the [project overview](Project%20overview.md)) and the following controllers:

kuka_iiqka_eac_driver/CMakeLists.txt

@@ -100,6 +100,7 @@ install(DIRECTORY config launch test
 if(BUILD_TESTING)
   find_package(launch_testing_ament_cmake)
   add_launch_test(test/test_driver_startup.py)
+  add_launch_test(test/test_driver_activation.py)
   add_launch_test(test/test_multi_robot_startup.py)
 endif()
 

kuka_iiqka_eac_driver/package.xml

@@ -28,6 +28,11 @@
   <exec_depend>kuka_lbr_iisy_support</exec_depend>
   <exec_depend>ros2_control</exec_depend>
   <exec_depend>ros2_controllers</exec_depend>
+  <exec_depend>joint_group_impedance_controller</exec_depend>
+  <exec_depend>effort_controllers</exec_depend>
+  <exec_depend>control_mode_handler</exec_depend>
+
+  <test_depend>ros2lifecycle</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>

kuka_iiqka_eac_driver/test/test_driver_activation.py

@@ -0,0 +1,81 @@
+# Copyright 2024 Áron Svastits
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import unittest
+
+import launch
+import launch.actions
+import launch_testing.actions
+import launch_testing.markers
+import pytest
+
+from launch.launch_description_sources.python_launch_description_source import (
+    PythonLaunchDescriptionSource,
+)
+from launch.actions.include_launch_description import IncludeLaunchDescription
+from ament_index_python.packages import get_package_share_directory
+
+
+# Launch driver startup
+@pytest.mark.launch_test
+@launch_testing.markers.keep_alive
+def generate_test_description():
+    return launch.LaunchDescription(
+        [
+            IncludeLaunchDescription(
+                PythonLaunchDescriptionSource(
+                    [
+                        get_package_share_directory("kuka_iiqka_eac_driver"),
+                        "/launch/",
+                        "startup.launch.py",
+                    ]
+                )
+            ),
+            launch.actions.TimerAction(
+                period=2.0,
+                actions=[
+                    launch.actions.ExecuteProcess(
+                        cmd=["ros2", "lifecycle", "set", "robot_manager", "configure"],
+                        output="screen",
+                    ),
+                ],
+            ),
+            launch.actions.TimerAction(
+                period=4.0,
+                actions=[
+                    launch.actions.ExecuteProcess(
+                        cmd=["ros2", "lifecycle", "set", "robot_manager", "activate"],
+                        output="screen",
+                    ),
+                ],
+            ),
+            launch_testing.actions.ReadyToTest(),
+        ]
+    )
+
+
+class TestDriverActivation(unittest.TestCase):
+    def test_read_stdout(self, proc_output):
+        # Check for successful initialization
+        proc_output.assertWaitFor("got segment base", timeout=5)
+        proc_output.assertWaitFor(
+            "Successful initialization of hardware 'lbr_iisy3_r760'", timeout=5
+        )
+        # Check whether disabling automatic activation was successful
+        proc_output.assertWaitFor("Hardware Component with name '' does not exists", timeout=5)
+        # Check for successful configuration and activation
+        proc_output.assertWaitFor(
+            "Successful 'configure' of hardware 'lbr_iisy3_r760'", timeout=10
+        )
+        proc_output.assertWaitFor("Successful 'activate' of hardware 'lbr_iisy3_r760'", timeout=15)

kuka_iiqka_eac_driver/test/test_driver_startup.py

@@ -47,7 +47,7 @@ def generate_test_description():
     )
 
 
-class TestModels(unittest.TestCase):
+class TestDriverStartup(unittest.TestCase):
     def test_read_stdout(self, proc_output):
         # Check for successful initialization
         proc_output.assertWaitFor("got segment base", timeout=5)

kuka_iiqka_eac_driver/test/test_multi_robot_startup.py

@@ -72,7 +72,7 @@ def generate_test_description():
     )
 
 
-class TestModels(unittest.TestCase):
+class TestMultiStartup(unittest.TestCase):
     def test_read_stdout(self, proc_output):
         # Check for successful initialization
         proc_output.assertWaitFor("got segment test1_base", timeout=20)

kuka_kss_rsi_driver/CMakeLists.txt

@@ -57,6 +57,7 @@ install(TARGETS ${PROJECT_NAME} robot_manager_node
 if(BUILD_TESTING)
   find_package(launch_testing_ament_cmake)
   add_launch_test(test/test_driver_startup.py)
+  add_launch_test(test/test_driver_activation.py)
   add_launch_test(test/test_multi_robot_startup.py)
 endif()
 

kuka_kss_rsi_driver/krl/ros_rsi.src

@@ -65,6 +65,8 @@ DECL INT CONTID	; ContainerID
   ;ENDFOLD (USER INI)
 ;ENDFOLD (INI)
 
+PTP {A1 0, A2 -90, A3 90, A4 0, A5 0, A6 0}
+
 ; Create RSI Context
 ret = RSI_CREATE("ros_rsi",CONTID,TRUE)
 IF (ret <> RSIOK) THEN

kuka_kss_rsi_driver/package.xml

@@ -24,6 +24,9 @@
   <exec_depend>ros2_control</exec_depend>
   <exec_depend>ros2_controllers</exec_depend>
 
+  <test_depend>kuka_rsi_simulator</test_depend>
+  <test_depend>ros2lifecycle</test_depend>
+
   <export>
     <build_type>ament_cmake</build_type>
   </export>

kuka_kss_rsi_driver/test/test_driver_activation.py

@@ -0,0 +1,88 @@
+# Copyright 2024 Áron Svastits
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import unittest
+
+import launch
+import launch.actions
+import launch_testing.actions
+import launch_testing.markers
+import pytest
+
+from launch.launch_description_sources.python_launch_description_source import (
+    PythonLaunchDescriptionSource,
+)
+from launch.actions.include_launch_description import IncludeLaunchDescription
+from ament_index_python.packages import get_package_share_directory
+
+
+# Launch driver startup
+@pytest.mark.launch_test
+@launch_testing.markers.keep_alive
+def generate_test_description():
+    return launch.LaunchDescription(
+        [
+            IncludeLaunchDescription(
+                PythonLaunchDescriptionSource(
+                    [
+                        get_package_share_directory("kuka_kss_rsi_driver"),
+                        "/launch/",
+                        "startup.launch.py",
+                    ]
+                )
+            ),
+            IncludeLaunchDescription(
+                PythonLaunchDescriptionSource(
+                    [
+                        get_package_share_directory("kuka_rsi_simulator"),
+                        "/launch/",
+                        "kuka_rsi_simulator.launch.py",
+                    ]
+                )
+            ),
+            launch.actions.TimerAction(
+                period=2.0,
+                actions=[
+                    launch.actions.ExecuteProcess(
+                        cmd=["ros2", "lifecycle", "set", "robot_manager", "configure"],
+                        output="screen",
+                    ),
+                ],
+            ),
+            launch.actions.TimerAction(
+                period=4.0,
+                actions=[
+                    launch.actions.ExecuteProcess(
+                        cmd=["ros2", "lifecycle", "set", "robot_manager", "activate"],
+                        output="screen",
+                    ),
+                ],
+            ),
+            launch_testing.actions.ReadyToTest(),
+        ]
+    )
+
+
+class TestDriverActivation(unittest.TestCase):
+    def test_read_stdout(self, proc_output):
+        # Check for successful initialization
+        proc_output.assertWaitFor("got segment base", timeout=5)
+        proc_output.assertWaitFor(
+            "Successful initialization of hardware 'kr6_r700_sixx'", timeout=5
+        )
+        # Check whether disabling automatic activation was successful
+        proc_output.assertWaitFor("Hardware Component with name '' does not exists", timeout=5)
+        # Check for successful configuration and activation
+        proc_output.assertWaitFor("Successful 'configure' of hardware 'kr6_r700_sixx'", timeout=10)
+        proc_output.assertWaitFor("Successful 'activate' of hardware 'kr6_r700_sixx'", timeout=15)

kuka_kss_rsi_driver/test/test_driver_startup.py

@@ -47,7 +47,7 @@ def generate_test_description():
     )
 
 
-class TestModels(unittest.TestCase):
+class TestDriverStartup(unittest.TestCase):
     def test_read_stdout(self, proc_output):
         # Check for successful initialization
         proc_output.assertWaitFor("got segment base", timeout=5)

kuka_kss_rsi_driver/test/test_multi_robot_startup.py

@@ -68,7 +68,7 @@ def generate_test_description():
     )
 
 
-class TestModels(unittest.TestCase):
+class TestMultiStartup(unittest.TestCase):
     def test_read_stdout(self, proc_output):
         # Check for successful initialization
         proc_output.assertWaitFor("got segment test1_base", timeout=20)

kuka_sunrise_fri_driver/package.xml

@@ -22,9 +22,10 @@
   <depend>hardware_interface</depend>
   <depend>controller_manager_msgs</depend>
 
-  <exec_depend>rosidl_default_runtime</exec_depend>
   <exec_depend>ros2_control</exec_depend>
   <exec_depend>ros2_controllers</exec_depend>
+  <exec_depend>fri_state_broadcaster</exec_depend>
+  <exec_depend>fri_configuration_controller</exec_depend>
 
   <export>
     <build_type>ament_cmake</build_type>

kuka_sunrise_fri_driver/test/test_driver_startup.py

@@ -47,7 +47,7 @@ def generate_test_description():
     )
 
 
-class TestModels(unittest.TestCase):
+class TestDriverStartup(unittest.TestCase):
     def test_read_stdout(self, proc_output):
         # Check for successful initialization
         proc_output.assertWaitFor("got segment base", timeout=5)

kuka_sunrise_fri_driver/test/test_multi_robot_startup.py

@@ -68,7 +68,7 @@ def generate_test_description():
     )
 
 
-class TestModels(unittest.TestCase):
+class TestMultiStartup(unittest.TestCase):
     def test_read_stdout(self, proc_output):
         # Check for successful initialization
         proc_output.assertWaitFor("got segment test1_base", timeout=20)