From d1e98790eb57e7ae6c672ec0b459d7f2fb085c18 Mon Sep 17 00:00:00 2001 From: Immanuel Martini <35950815+martiniil@users.noreply.github.com> Date: Fri, 2 Oct 2020 15:46:02 +0200 Subject: [PATCH] Update acceptancetest_stop1.md (#447) * Update acceptancetest_stop1.md * clarify: no errors during stop1 Especially there should not be any EMCY message. Co-authored-by: Joachim Schleicher --- .../acceptance_tests/acceptancetest_stop1.md | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/prbt_hardware_support/test/acceptance_tests/acceptancetest_stop1.md b/prbt_hardware_support/test/acceptance_tests/acceptancetest_stop1.md index 21486de42..9363eae80 100644 --- a/prbt_hardware_support/test/acceptance_tests/acceptancetest_stop1.md +++ b/prbt_hardware_support/test/acceptance_tests/acceptancetest_stop1.md @@ -19,7 +19,7 @@ along with this program. If not, see . These acceptance tests check that the real robot system reacts to RUN_PERMITTED messages accordingly. ## Prerequisites for each test - - Properly connect and startup the robot and power cabinet containing the PNoz-Multi. + - Properly connect and startup the robot and power cabinet containing the PSS4000. Make sure an emergency stop is within reach. ## 1. Starting while acknowledge button is pressed @@ -27,24 +27,24 @@ These acceptance tests check that the real robot system reacts to RUN_PERMITTED 1. Press the acknowledge button. Make sure the green light on the power cabinet is on. Run `roslaunch prbt_moveit_config moveit_planning_execution.launch sim:=False pipeline:=pilz_command_planner` 2. Release the acknowledge button. Try to move the robot. - 3. Press the acknowledge button. Make sure the green light on the power cabinet is on. + 3. Press the acknowledge button. Make sure the green light on the power cabinet is on and try to move the robot. 4. Using Rviz perform a long motion during which you release the acknowledge button. ### Expected Results 1. The robot starts properly and is moveable via Rviz. 2. The robot cannot be moved. 3. A "Click" indicates the reenabling of the drives. The robot can be moved. - 4. Upon the release of the button the robot stops smoothly. + 4. Upon the release of the button the robot stops smoothly without any errors on the console. ## 2. Starting without acknowledge button beeing pressed ### Test Sequence 1. Do not press the acknowledge button. - Run `roslaunch prbt_moveit_config moveit_planning_execution.launch sim:=False pipeline:=pilz_command_planner` - After a about 10 seconds press the acknowledge button. - 2. Try to move the Robot via Rviz. + Run `roslaunch prbt_moveit_config moveit_planning_execution.launch sim:=False pipeline:=pilz_command_planner`. + Try to move the robot. + 2. Press the acknowledge button. Again try to move the robot. ### Expected Results - 1. A "Click" indicates the enabling of the drives. - 2. The robot can be moved. + 1. The robot cannot be moved. + 2. A "Click" indicates the enabling of the drives and the robot is moveable via Rviz. ## 3. Loosing ethernet connection during motion ### Test Sequence