Execute Acceptance tests at real robot

SansoneG commented 4 years ago

Have a look at pilz_robots and pilz_industrial_motion for Acceptance Tests.

SansoneG commented 4 years ago

The following was noticed while executing braketests at the real robot:

testing limit for joint 5 doesn't make sense
the folder names for acceptance tests isn't consistent (e.g. prbt_supportand prbt_hardware_support)
test could be made more efficient
Wrong value is written to modbus in https://github.com/PilzDE/pilz_robots/blob/melodic-devel/prbt_hardware_support/src/modbus_adapter_brake_test.cpp#L138
In https://github.com/PilzDE/pilz_robots/blob/bf93b848fe1646b5480f7c2b4afa88fa4c7f7d4b/prbt_support/test/acceptance_tests/acceptance_test_joint_limits.md the pressing of enabling switch while startup is not mentioned

martiniil commented 4 years ago

We detected a problem: #379

PilzDE / pilz_robots