Enhance testing framework and add integration tests #136
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MaxWaterhout
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- Added new integration tests for the Franka robot - Introduced utility functions - Updated launch files to include necessary arguments for simulation. - Included additional ROS packages in the installation script. Signed-off-by: Max Waterhout <max.waterhout@soprasteria.com>
…r places. Also added ruff and changed some parts of test_utils. Signed-off-by: Max Waterhout <max.waterhout@soprasteria.com>
… to open and to actually open the fingers Signed-off-by: Max Waterhout <max.waterhout@soprasteria.com>
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…nd open gripper service to give time to close the gripper. Signed-off-by: Max Waterhout <max.waterhout@soprasteria.com>
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…n integration tests Signed-off-by: Max Waterhout <max.waterhout@soprasteria.com>
Jelmerdw
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Signed-off-by: Max Waterhout <max.waterhout@soprasteria.com>
…st folder Signed-off-by: Max Waterhout <max.waterhout@soprasteria.com>
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ros2_ws/src/rcdt_franka/test/integration/test_franka_gripper.py
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…e with instant 0's instead of None Signed-off-by: Max Waterhout <max.waterhout@soprasteria.com>
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Description
Fixes: #129
Testing
In simulation the tests also work. Not yet tested on the real robot.
Documentation
In the workflow is it already written that we have pytest in our flow. Also in the PR template testing is now mentioned.
Additional information
I have defined some variables for testing for example tolerance and time to wait. This can also change in the future.