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Update acceptancetest_stop1.md #447

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Oct 2, 2020
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Update acceptancetest_stop1.md #447

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ad66623
Update acceptancetest_stop1.md
martiniil Jul 29, 2020
9c7e833
pressing the enabling button twice shouldn't be necessary
jschleicher Oct 2, 2020
1bd9086
Merge branch 'melodic-devel' into fix/acceptance_test_stop1
jschleicher Oct 2, 2020
7eb1d87
clarify: no errors during stop1
jschleicher Oct 2, 2020
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14 changes: 7 additions & 7 deletions prbt_hardware_support/test/acceptance_tests/acceptancetest_stop1.md
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Expand Up @@ -19,15 +19,15 @@ along with this program. If not, see <http://www.gnu.org/licenses/>.
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`
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.
Expand All @@ -38,13 +38,13 @@ 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
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