mmurooka
commented
5 years ago Test failed as intended. https://travis-ci.org/jsk-ros-pkg/jsk_control/jobs/505089503
[eus_qp:make] moutput to /home/travis/ros/ws_jsk_control/build/eus_qp/test_results/eus_qp/rosunit-optmotiongen_test_sample_torque_gradient.xml
[eus_qp:make] mstart testing [test-sample-torque-gradient]
[eus_qp:make] mcontact-torque-jacobian-error: 45.3031
[eus_qp:make] mgravity-torque-jacobian-error: 7.723854e-09
[eus_qp:make] mtorque-jacobian-error: 45.3031
[eus_qp:make] mm[ERROR] test (eps= (norm contact-torque-jacobian-error) 0.0 0.001) failed ... ( ^[0mmtorque-jacobian-error: 45.3031
[eus_qp:make] 7.723854e-09
[eus_qp:make] ild/eus_qp/test_results/eus_qp/rosunit-optmotiongen_test_sample_torque_gradient).m
[eus_qp:make] m[ERROR] test (eps= (norm torque-jacobian-error) 0.0 0.001) failed ... ( 4e-09
[eus_qp:make] ild/eus_qp/test_results/eus_qp/rosunit-optmotiongen_test_sample_torque_gradient).^[0m
[eus_qp:make] rque-jacobian-error: 45.3031
[eus_qp:make] 7.72385).m
/eus_qp/rostest-optmotiongen_test_test-sample-torque-gradient.xml /opt/ros/indigo/share/rostest/cmake/../../../bin/rostest\ --pkgdir=/home/travis/ros/ws_jsk_control/src/jsk_control/eus_qp\ --package=eus_qp\ --results-filename\ optmotiongen_test_test-sample-torque-gradient.xml\ --results-base-dir\ "/home/travis/ros/ws_jsk_control/build/eus_qp/test_results"\ /home/travis/ros/ws_jsk_control/src/jsk_control/eus_qp/optmotiongen/test/test-sample-torque-gradient.test\
[eus_qp:make] -- run_tests.py: execute commands
[eus_qp:make] /opt/ros/indigo/share/rostest/cmake/../../../bin/rostest --pkgdir=/home/travis/ros/ws_jsk_control/src/jsk_control/eus_qp --package=eus_qp --results-filename optmotiongen_test_test-sample-torque-gradient.xml --results-base-dir /home/travis/ros/ws_jsk_control/build/eus_qp/test_results /home/travis/ros/ws_jsk_control/src/jsk_control/eus_qp/optmotiongen/test/test-sample-torque-gradient.test
[eus_qp:make] ... logging to /home/travis/.ros/log/rostest-3a72edc7ee75-21672.log
[eus_qp:make] [ROSUNIT] Outputting test results to /home/travis/ros/ws_jsk_control/build/eus_qp/test_results/eus_qp/rostest-optmotiongen_test_test-sample-torque-gradient.xml
[eus_qp:make] testoptmotiongen_test_sample_torque_gradient ... ok
[eus_qp:make]
[eus_qp:make] [ROSTEST]-----------------------------------------------------------------------
[eus_qp:make]
[eus_qp:make] [eus_qp.rosunit-optmotiongen_test_sample_torque_gradient/all-test][passed]
[eus_qp:make] [eus_qp.rosunit-optmotiongen_test_sample_torque_gradient/test-sample-torque-gradient][FAILURE]
[eus_qp:make] Test:(eps= (norm torque-jacobian-error) 0.0 0.001)
[eus_qp:make] Trace:"4e-09
[eus_qp:make] ild/eus_qp/test_results/eus_qp/rosunit-optmotiongen_test_sample_torque_gradient).^[0m
[eus_qp:make] rque-jacobian-error: 45.3031
[eus_qp:make] 7.72385"
[eus_qp:make] Message:""
[eus_qp:make] --------------------------------------------------------------------------------
[eus_qp:make]
[eus_qp:make]
[eus_qp:make] [eus_qp.rosunit-optmotiongen_test_sample_torque_gradient/test-sample-torque-gradient][FAILURE]
[eus_qp:make] Test:(eps= (norm contact-torque-jacobian-error) 0.0 0.001)
[eus_qp:make] Trace:"^[0mmtorque-jacobian-error: 45.3031
[eus_qp:make] 7.723854e-09
[eus_qp:make] ild/eus_qp/test_results/eus_qp/rosunit-optmotiongen_test_sample_torque_gradient"
[eus_qp:make] Message:""
[eus_qp:make] --------------------------------------------------------------------------------
[eus_qp:make]
[eus_qp:make]
[eus_qp:make] SUMMARY
[eus_qp:make] m * RESULT: FAILm
[eus_qp:make] * TESTS: 1
[eus_qp:make] * ERRORS: 0
[eus_qp:make] m * FAILURES: 1m
[eus_qp:make]
[eus_qp:make] rostest log file is in /home/travis/.ros/log/rostest-3a72edc7ee75-21672.log
[eus_qp:make] -- run_tests.py: verify result "/home/travis/ros/ws_jsk_control/build/eus_qp/test_results/eus_qp/rostest-optmotiongen_test_test-sample-torque-gradient.xml"
Add test of torque gradient. This test should fail because current gradient calculation contains a bug.