From ad6662360f937d7e3fc8698849b9d2065ffff41a Mon Sep 17 00:00:00 2001 From: Immanuel Martini Date: Wed, 29 Jul 2020 20:16:10 +0200 Subject: [PATCH 1/3] Update acceptancetest_stop1.md We need to press acknowledge again after startup, else the controller is in holding mode. --- .../test/acceptance_tests/acceptancetest_stop1.md | 15 ++++++++------- 1 file changed, 8 insertions(+), 7 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..f694d280d 100644 --- a/prbt_hardware_support/test/acceptance_tests/acceptancetest_stop1.md +++ b/prbt_hardware_support/test/acceptance_tests/acceptancetest_stop1.md @@ -19,15 +19,16 @@ 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 ### Test Sequence 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` + Once the startup is complete press the acknowledge button again. 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. @@ -38,13 +39,13 @@ These acceptance tests check that the real robot system reacts to RUN_PERMITTED ## 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 From 9c7e83317e5622247db054f8a3628f5de7543d55 Mon Sep 17 00:00:00 2001 From: Joachim Schleicher Date: Fri, 2 Oct 2020 13:51:47 +0200 Subject: [PATCH 2/3] pressing the enabling button twice shouldn't be necessary --- .../test/acceptance_tests/acceptancetest_stop1.md | 1 - 1 file changed, 1 deletion(-) diff --git a/prbt_hardware_support/test/acceptance_tests/acceptancetest_stop1.md b/prbt_hardware_support/test/acceptance_tests/acceptancetest_stop1.md index f694d280d..a1dd36e4d 100644 --- a/prbt_hardware_support/test/acceptance_tests/acceptancetest_stop1.md +++ b/prbt_hardware_support/test/acceptance_tests/acceptancetest_stop1.md @@ -26,7 +26,6 @@ These acceptance tests check that the real robot system reacts to RUN_PERMITTED ### Test Sequence 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` - Once the startup is complete press the acknowledge button again. 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 and try to move the robot. 4. Using Rviz perform a long motion during which you release the acknowledge button. From 7eb1d87b6f2329b3b0a0b188b476550cf7c2e0cb Mon Sep 17 00:00:00 2001 From: Joachim Schleicher Date: Fri, 2 Oct 2020 14:00:11 +0200 Subject: [PATCH 3/3] clarify: no errors during stop1 Especially there should not be any EMCY message. --- .../test/acceptance_tests/acceptancetest_stop1.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/prbt_hardware_support/test/acceptance_tests/acceptancetest_stop1.md b/prbt_hardware_support/test/acceptance_tests/acceptancetest_stop1.md index a1dd36e4d..9363eae80 100644 --- a/prbt_hardware_support/test/acceptance_tests/acceptancetest_stop1.md +++ b/prbt_hardware_support/test/acceptance_tests/acceptancetest_stop1.md @@ -33,7 +33,7 @@ These acceptance tests check that the real robot system reacts to RUN_PERMITTED 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