From fee94b57322c9c90a9263488ab5d33c175cd3e64 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=C3=81ron=20Svastits?= <49677296+Svastits@users.noreply.github.com> Date: Mon, 11 Mar 2024 08:39:57 +0100 Subject: [PATCH] Extend doc with sdk dependencies (#149) * extend doc * spell * increase activation test timeout --------- Co-authored-by: Svastits --- README.md | 1 + kuka_iiqka_eac_driver/test/test_driver_activation.py | 8 ++++---- 2 files changed, 5 insertions(+), 4 deletions(-) diff --git a/README.md b/README.md index 979d59d6..d53633c7 100644 --- a/README.md +++ b/README.md @@ -43,6 +43,7 @@ rosdep install --from-paths . --ignore-src --rosdistro $ROS_DISTRO -y Clone and build kuka-external-control-sdk in a different workspace. - This library is necessary for the iiQKA ExternalAPI.Control driver - The library is not a ROS2 package, therefore a different workspace is necessary, otherwise colcon will fail to build it + - To install dependencies for your platform, check out the [Requirements](https://github.com/kroshu/kuka-external-control-sdk/blob/master/kuka-external-control-sdk/doc/SDK_howto.md#requirements) section of the kuka-external-control-sdk documentation. ```bash mkdir -p ~/sdk_ws/src cd ~/sdk_ws/src diff --git a/kuka_iiqka_eac_driver/test/test_driver_activation.py b/kuka_iiqka_eac_driver/test/test_driver_activation.py index 87fd08c5..9f9c1238 100644 --- a/kuka_iiqka_eac_driver/test/test_driver_activation.py +++ b/kuka_iiqka_eac_driver/test/test_driver_activation.py @@ -46,7 +46,7 @@ def generate_test_description(): }.items(), ), launch.actions.TimerAction( - period=5.0, + period=10.0, actions=[ launch.actions.ExecuteProcess( cmd=["ros2", "lifecycle", "set", "robot_manager", "configure"], @@ -55,7 +55,7 @@ def generate_test_description(): ], ), launch.actions.TimerAction( - period=10.0, + period=15.0, actions=[ launch.actions.ExecuteProcess( cmd=["ros2", "lifecycle", "set", "robot_manager", "activate"], @@ -81,6 +81,6 @@ def test_read_stdout(self, proc_output): ) # Check for successful configuration and activation proc_output.assertWaitFor( - "Successful 'configure' of hardware 'lbr_iisy3_r760'", timeout=10 + "Successful 'configure' of hardware 'lbr_iisy3_r760'", timeout=15 ) - proc_output.assertWaitFor("Successful 'activate' of hardware 'lbr_iisy3_r760'", timeout=15) + proc_output.assertWaitFor("Successful 'activate' of hardware 'lbr_iisy3_r760'", timeout=20)