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PilzDE / pilz_industrial_motion

Industrial trajectory generation for MoveIt!.
https://wiki.ros.org/pilz_industrial_motion
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0.4.8 breaks integrationtest using pilz_industrial_motion #230

Closed jschleicher closed 4 years ago

jschleicher commented 4 years ago

Commit

ros-testing packages used inside docker image moveit/moveit:moveit-master-source

Steps to reproduce

Integrationtest: starting from pilz_templates a fake_joint_driver is used to get simulated joint_states within ros_control. Out integrationtest passing on friday now fails. See failing travis job

Expected behavior

Test passes.

No note in Changelog, no migration help. So the former behaviour with sim:=True should work out-of-the box.

Reference to test

This is our launch file: prbt_jog_arm_sim.launch

jschleicher commented 4 years ago

https://github.com/PilzDE/pilz_industrial_motion/blob/766c606d1b13d08f6f4a7731e99902011e617b2f/pilz_robot_programming/test/integrationtests/integrationtest_self_collision.test#L41

fake_speed_override_node seems to be always necessary, when starting moveit_planning_execution.launch with sim:=True? Then I'd suggest to add it there directly. Or you pass the sim argument as parameter to the python-API and skip searching for an non-available service there...