Fix universal robot system tests random faillure

webots_ros2_tests/test/test_system_universal_robot.py

@@ -75,11 +75,11 @@ def tearDownClass(cls):
 
     def setUp(self):
         self.__node = rclpy.create_node('driver_tester')
-        self.wait_for_clock(self.__node, messages_to_receive=120)
+        self.wait_for_clock(self.__node, messages_to_receive=20)
 
     def testAbbCaughtCan(self):
         # The robot should catch the can in the simulation.
-        self.wait_for_messages(self.__node, Range, '/abb/abbirb4600/object_present_sensor', timeout=360,
+        self.wait_for_messages(self.__node, Range, '/abb/abbirb4600/object_present_sensor', timeout=400,
                                condition=lambda message: message.range < 0.07)
 
     def tearDown(self):

webots_ros2_universal_robot/launch/multirobot_launch.py

@@ -67,7 +67,7 @@ def generate_launch_description():
         ]
     )
 
-    controller_manager_timeout = ['--controller-manager-timeout', '50']
+    controller_manager_timeout = ['--controller-manager-timeout', '75']
     controller_manager_prefix = 'python.exe' if os.name == 'nt' else ''
     ur5e_trajectory_controller_spawner = Node(
         package='controller_manager',

webots_ros2_universal_robot/webots_ros2_universal_robot/abb_controller.py

@@ -15,6 +15,7 @@
 """Trajectory follower client for the ABB irb4600 robot used for multi-robot demonstration."""
 
 import rclpy
+import time
 from webots_ros2_universal_robot.follow_joint_trajectory_client import FollowJointTrajectoryClient
 
 
@@ -30,7 +31,7 @@
     ],
     'points': [
         {
-            'positions': [0.0, 0.0, 0.0, 0., 0.0495, 0.0495, 0.0495],
+            'positions': [0.0, 0.0, 0.0, 0.0, 0.0495, 0.0495, 0.0495],
             'time_from_start': {'sec': 0, 'nanosec': 0}
         },
         {
@@ -50,11 +51,11 @@
             'time_from_start': {'sec': 4, 'nanosec': 0}
         },
         {
-            'positions': [1.57, -0.1, 0.95, -0.71, 0.85, 0.85, 0.6],
+            'positions': [1.57, -0.05, 0.90, -0.71, 0.85, 0.85, 0.6],
             'time_from_start': {'sec': 5, 'nanosec': 0}
         },
         {
-            'positions': [1.57, -0.1, 0.8, -0.81, 0.0495, 0.0495, 0.0495],
+            'positions': [1.57, -0.05, 0.75, -0.81, 0.0495, 0.0495, 0.0495],
             'time_from_start': {'sec': 6, 'nanosec': 0}
         },
         {
@@ -72,6 +73,11 @@
 def main(args=None):
     rclpy.init(args=args)
     controller = FollowJointTrajectoryClient('abb_controller', '/abb/abb_joint_trajectory_controller/follow_joint_trajectory')
+
+    # Need to be sur that trajectory_controller is ready (only for slow machines).
+    # https://github.com/ros2/rclpy/issues/842
+    time.sleep(5)
+
     controller.send_goal(GOAL, 10)
     rclpy.spin(controller)
 

webots_ros2_universal_robot/webots_ros2_universal_robot/ur5e_controller.py

@@ -15,6 +15,7 @@
 """Trajectory follower client for the UR5 robot used for multi-robot demonstration."""
 
 import rclpy
+import time
 from webots_ros2_universal_robot.follow_joint_trajectory_client import FollowJointTrajectoryClient
 
 
@@ -30,7 +31,7 @@
     ],
     'points': [
         {
-            'positions': [0.0, 0.0, 0.0, 0., 0.0495, 0.0495, 0.0495],
+            'positions': [0.0, 0.0, 0.0, 0.0, 0.0495, 0.0495, 0.0495],
             'time_from_start': {'sec': 0, 'nanosec': 0}
         },
         {
@@ -68,6 +69,11 @@
 def main(args=None):
     rclpy.init(args=args)
     controller = FollowJointTrajectoryClient('ur5e_controller', '/ur5e/ur_joint_trajectory_controller/follow_joint_trajectory')
+
+    # Need to be sur that trajectory_controller is ready (only for slow machines).
+    # https://github.com/ros2/rclpy/issues/842
+    time.sleep(5)
+
     controller.send_goal(GOAL, 10)
     rclpy.spin(controller)