Urscript interface #721
Merged
Urscript interface #721
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Closed
|
@fmauch Great work.
|
|
@urrsk I've added an integration test for the script interface. |
|
OK, those tests seem not to be reliable. I'll have to do some more work. |
fmauch
force-pushed
the
urscript_interface
branch
2 times, most recently
from
82a7e2b
to
6221fb4
Compare
This should avoid that different tests run in parallel
…e we enter our test similar to how we did it on the robot_driver test
fmauch
force-pushed
the
urscript_interface
branch
from
6221fb4
to
bb81eac
Compare
RobertWilbrandt
approved these changes
Jul 12, 2023
mergify bot
pushed a commit
that referenced
this pull request
Jul 12, 2023
* Add a urscript interface node * Add urscript_interface to standard launchfile * Added documentation for urscript_interface * Add a notice about incorrect script code * Add test for urscript interface * Move tests to one single tests This should avoid that different tests run in parallel * Wait for IO controller before checking IOs * Write an initial textmessage when connecting the urscript_interface * Wait for controller_manager services longer * Make sure we have a clean robot state without any program running once we enter our test similar to how we did it on the robot_driver test * Remove unneeded Destructor definition (cherry picked from commit 7ee47bd) # Conflicts: # ur_robot_driver/doc/usage.rst
fmauch
added a commit
that referenced
this pull request
Jul 21, 2023
* Add a urscript interface node * Add urscript_interface to standard launchfile * Added documentation for urscript_interface * Add a notice about incorrect script code * Add test for urscript interface * Move tests to one single tests This should avoid that different tests run in parallel * Wait for IO controller before checking IOs * Write an initial textmessage when connecting the urscript_interface * Wait for controller_manager services longer * Make sure we have a clean robot state without any program running once we enter our test similar to how we did it on the robot_driver test * Remove unneeded Destructor definition (cherry picked from commit 7ee47bd)
fmauch
added a commit
that referenced
this pull request
Jul 21, 2023
* Add a urscript interface node * Add urscript_interface to standard launchfile * Added documentation for urscript_interface * Add a notice about incorrect script code * Add test for urscript interface * Move tests to one single tests This should avoid that different tests run in parallel * Wait for IO controller before checking IOs * Write an initial textmessage when connecting the urscript_interface * Wait for controller_manager services longer * Make sure we have a clean robot state without any program running once we enter our test similar to how we did it on the robot_driver test * Remove unneeded Destructor definition (cherry picked from commit 7ee47bd) Co-authored-by: Felix Exner (fexner) <[email protected]>
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
This PR adds a bare URScript interface using the
ur_client_library. This should implement #387 and #251.In this first version I did a 1to1 sending of the script code towards the robot. If the script code contains an error, it will simply not get executed.
This could get extended in the future, but that should be an easy non-intrusive extension that gets the job done in a lot of situations.