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Removed test of tool contact
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URJala committed Jul 11, 2024
1 parent a092164 commit 7bb0b10
Showing 1 changed file with 0 additions and 31 deletions.
31 changes: 0 additions & 31 deletions ur_robot_driver/test/integration_test.py
Original file line number Diff line number Diff line change
Expand Up @@ -128,22 +128,6 @@ def init_robot(self):
"Could not reach 'get version' service. Make sure that the driver is actually running."
" Msg: {}".format(err))

self.start_tool_contact = rospy.ServiceProxy('ur_hardware_interface/start_tool_contact', Trigger)
try:
self.start_tool_contact.wait_for_service(timeout)
except rospy.exceptions.ROSException as err:
self.fail(
"Could not reach 'start tool contact' service. Make sure that the driver is actually running."
" Msg: {}".format(err))

self.end_tool_contact = rospy.ServiceProxy('ur_hardware_interface/end_tool_contact', Trigger)
try:
self.end_tool_contact.wait_for_service(timeout)
except rospy.exceptions.ROSException as err:
self.fail(
"Could not reach 'end tool contact' service. Make sure that the driver is actually running."
" Msg: {}".format(err))

self.script_publisher = rospy.Publisher("/ur_hardware_interface/script_command", std_msgs.msg.String, queue_size=1)
self.tf_listener = tf.TransformListener()
self.twist_pub = rospy.Publisher("/twist_controller/command", geometry_msgs.msg.Twist, queue_size=1)
Expand Down Expand Up @@ -286,21 +270,6 @@ def test_set_io(self):
messages += 1
self.assertEqual(pin_state, 1)

def test_tool_contact(self):
version_info = self.get_robot_software_version.call()
if version_info.major >= 5:
start_response = self.start_tool_contact.call()
self.assertEqual(start_response.success,True)

end_response = self.end_tool_contact.call()
self.assertEqual(end_response.success, True)
else:
start_response = self.start_tool_contact.call()
self.assertEqual(start_response.success,False)

end_response = self.end_tool_contact.call()
self.assertEqual(end_response.success, False)

def test_cartesian_passthrough(self):
#### Power cycle the robot in order to make sure it is running correctly####
self.assertTrue(self.set_robot_to_mode(RobotMode.POWER_OFF))
Expand Down

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