Skip to content
Snippets Groups Projects
Commit b28efcf6 authored by Christoph Schröter's avatar Christoph Schröter
Browse files

No commit message 

No commit message
parent 05928259
No related branches found
No related tags found
No related merge requests found
Hide whitespace changes
Inline Side-by-side
cobot1.xml
+ 59
− 50
View file @ b28efcf6
......@@ -249,8 +249,8 @@ bool glass_in_target_pos = false;
<name x="535" y="-110">moving_to_glass</name>
<label kind="invariant" x="484" y="-93">bottle_in_start_pos == false</label>
</location>
<location id="id16" x="773" y="-8">
<name x="680" y="-17">start_pour</name>
<location id="id16" x="773" y="-59">
<name x="680" y="-68">start_pour</name>
</location>
<location id="id17" x="833" y="-263">
<name x="790" y="-297">shut_down</name>
......@@ -333,7 +333,16 @@ bool glass_in_target_pos = false;
<location id="id42" x="977" y="493">
<committed/>
</location>
<location id="id43" x="773" y="8">
<name x="705" y="0">pouring</name>
</location>
<init ref="id33"/>
<transition>
<source ref="id43"/>
<target ref="id18"/>
<label kind="guard" x="782" y="25">bottle_diff_to_start_ang &gt; 110</label>
<label kind="synchronisation" x="782" y="42">asap!</label>
</transition>
<transition>
<source ref="id42"/>
<target ref="id26"/>
......@@ -421,8 +430,8 @@ bool glass_in_target_pos = false;
<transition>
<source ref="id28"/>
<target ref="id16"/>
<label kind="synchronisation" x="773" y="-93">goal?</label>
<label kind="assignment" x="773" y="-76">orient_constraint_set = false</label>
<label kind="synchronisation" x="782" y="-102">goal?</label>
<label kind="assignment" x="782" y="-85">orient_constraint_set = false</label>
</transition>
<transition>
<source ref="id27"/>
......@@ -624,8 +633,8 @@ bool glass_in_target_pos = false;
</transition>
<transition>
<source ref="id16"/>
<target ref="id18"/>
<label kind="synchronisation" x="782" y="25">move_success?</label>
<target ref="id43"/>
<label kind="synchronisation" x="782" y="-34">move_success?</label>
</transition>
<transition>
<source ref="id15"/>
......@@ -663,12 +672,12 @@ bool glass_in_target_pos = false;
</template>
<template>
<name>testdonecatcher</name>
<location id="id43" x="0" y="0">
<location id="id44" x="0" y="0">
</location>
<init ref="id43"/>
<init ref="id44"/>
<transition>
<source ref="id43"/>
<target ref="id43"/>
<source ref="id44"/>
<target ref="id44"/>
<label kind="synchronisation" x="8" y="-42">test_done?</label>
<nail x="59" y="-17"/>
<nail x="59" y="17"/>
......@@ -676,12 +685,12 @@ bool glass_in_target_pos = false;
</template>
<template>
<name>positionupdatecatcher</name>
<location id="id44" x="-731" y="-544">
<location id="id45" x="-731" y="-544">
</location>
<init ref="id44"/>
<init ref="id45"/>
<transition>
<source ref="id44"/>
<target ref="id44"/>
<source ref="id45"/>
<target ref="id45"/>
<label kind="select" x="-1181" y="-816">i : int[0,max_ang_diff]</label>
<label kind="synchronisation" x="-1181" y="-833">glass_diff_to_start_ang_update?</label>
<label kind="assignment" x="-1181" y="-799">glass_diff_to_start_ang = i</label>
......@@ -689,8 +698,8 @@ bool glass_in_target_pos = false;
<nail x="-935" y="-799"/>
</transition>
<transition>
<source ref="id44"/>
<target ref="id44"/>
<source ref="id45"/>
<target ref="id45"/>
<label kind="select" x="-450" y="-790">i : int[0,max_ang_diff]</label>
<label kind="synchronisation" x="-476" y="-807">glass_diff_to_target_ang_update?</label>
<label kind="assignment" x="-442" y="-773">glass_diff_to_target_ang = i</label>
......@@ -698,8 +707,8 @@ bool glass_in_target_pos = false;
<nail x="-484" y="-790"/>
</transition>
<transition>
<source ref="id44"/>
<target ref="id44"/>
<source ref="id45"/>
<target ref="id45"/>
<label kind="select" x="-493" y="-382">i : int[0,max_ang_diff]</label>
<label kind="synchronisation" x="-493" y="-399">bottle_diff_to_start_ang_update?</label>
<label kind="assignment" x="-493" y="-365">bottle_diff_to_start_ang = i</label>
......@@ -707,8 +716,8 @@ bool glass_in_target_pos = false;
<nail x="-510" y="-382"/>
</transition>
<transition>
<source ref="id44"/>
<target ref="id44"/>
<source ref="id45"/>
<target ref="id45"/>
<label kind="select" x="-1198" y="-416">i : int[0,max_ang_diff]</label>
<label kind="synchronisation" x="-1232" y="-433">bottle_diff_to_target_ang_update?</label>
<label kind="assignment" x="-1207" y="-399">bottle_diff_to_target_ang = i</label>
......@@ -716,8 +725,8 @@ bool glass_in_target_pos = false;
<nail x="-952" y="-391"/>
</transition>
<transition>
<source ref="id44"/>
<target ref="id44"/>
<source ref="id45"/>
<target ref="id45"/>
<label kind="select" x="-858" y="-306">i : int[0,max_pos_diff]</label>
<label kind="synchronisation" x="-858" y="-323">bottle_diff_to_target_pos_update?</label>
<label kind="assignment" x="-858" y="-289">bottle_diff_to_target_pos = i</label>
......@@ -725,8 +734,8 @@ bool glass_in_target_pos = false;
<nail x="-697" y="-331"/>
</transition>
<transition>
<source ref="id44"/>
<target ref="id44"/>
<source ref="id45"/>
<target ref="id45"/>
<label kind="select" x="-1232" y="-561">i : int[0,max_pos_diff]</label>
<label kind="synchronisation" x="-1232" y="-578">glass_diff_to_start_pos_update?</label>
<label kind="assignment" x="-1232" y="-544">glass_diff_to_start_pos = i</label>
......@@ -734,8 +743,8 @@ bool glass_in_target_pos = false;
<nail x="-1003" y="-527"/>
</transition>
<transition>
<source ref="id44"/>
<target ref="id44"/>
<source ref="id45"/>
<target ref="id45"/>
<label kind="select" x="-773" y="-884">i : int[0,max_pos_diff]</label>
<label kind="synchronisation" x="-824" y="-901">glass_diff_to_target_pos_update?</label>
<label kind="assignment" x="-824" y="-867">glass_diff_to_target_pos = i</label>
......@@ -743,8 +752,8 @@ bool glass_in_target_pos = false;
<nail x="-765" y="-850"/>
</transition>
<transition>
<source ref="id44"/>
<target ref="id44"/>
<source ref="id45"/>
<target ref="id45"/>
<label kind="select" x="-323" y="-569">i : int[0,max_pos_diff]</label>
<label kind="synchronisation" x="-323" y="-586">bottle_diff_to_start_pos_update?</label>
<label kind="assignment" x="-323" y="-552">bottle_diff_to_start_pos = i</label>
......@@ -754,61 +763,61 @@ bool glass_in_target_pos = false;
</template>
<template>
<name>positionupdate</name>
<location id="id45" x="0" y="0">
<location id="id46" x="0" y="0">
</location>
<init ref="id45"/>
<init ref="id46"/>
<transition>
<source ref="id45"/>
<target ref="id45"/>
<source ref="id46"/>
<target ref="id46"/>
<label kind="synchronisation" x="-331" y="59">bottle_diff_to_target_ang_update!</label>
<nail x="-119" y="42"/>
<nail x="-85" y="68"/>
</transition>
<transition>
<source ref="id45"/>
<target ref="id45"/>
<source ref="id46"/>
<target ref="id46"/>
<label kind="synchronisation" x="-323" y="-110">glass_diff_to_start_ang_update!</label>
<nail x="-85" y="-110"/>
<nail x="-119" y="-85"/>
</transition>
<transition>
<source ref="id45"/>
<target ref="id45"/>
<source ref="id46"/>
<target ref="id46"/>
<label kind="synchronisation" x="119" y="-76">glass_diff_to_target_ang_update!</label>
<nail x="110" y="-42"/>
<nail x="93" y="-68"/>
</transition>
<transition>
<source ref="id45"/>
<target ref="id45"/>
<source ref="id46"/>
<target ref="id46"/>
<label kind="synchronisation" x="102" y="59">bottle_diff_to_start_ang_update!</label>
<nail x="85" y="85"/>
<nail x="102" y="68"/>
</transition>
<transition>
<source ref="id45"/>
<target ref="id45"/>
<source ref="id46"/>
<target ref="id46"/>
<label kind="synchronisation" x="-340" y="-17">glass_diff_to_start_pos_update!</label>
<nail x="-119" y="-25"/>
<nail x="-119" y="8"/>
</transition>
<transition>
<source ref="id45"/>
<target ref="id45"/>
<source ref="id46"/>
<target ref="id46"/>
<label kind="synchronisation" x="-136" y="93">bottle_diff_to_target_pos_update!</label>
<nail x="-34" y="85"/>
<nail x="17" y="85"/>
</transition>
<transition>
<source ref="id45"/>
<target ref="id45"/>
<source ref="id46"/>
<target ref="id46"/>
<label kind="synchronisation" x="-34" y="-119">glass_diff_to_target_pos_update!</label>
<nail x="25" y="-102"/>
<nail x="-25" y="-102"/>
</transition>
<transition>
<source ref="id45"/>
<target ref="id45"/>
<source ref="id46"/>
<target ref="id46"/>
<label kind="synchronisation" x="127" y="-8">bottle_diff_to_start_pos_update!</label>
<nail x="119" y="-17"/>
<nail x="119" y="17"/>
......@@ -816,12 +825,12 @@ bool glass_in_target_pos = false;
</template>
<template>
<name>goalcatcher</name>
<location id="id46" x="-578" y="-263">
<location id="id47" x="-578" y="-263">
</location>
<init ref="id46"/>
<init ref="id47"/>
<transition>
<source ref="id46"/>
<target ref="id46"/>
<source ref="id47"/>
<target ref="id47"/>
<label kind="synchronisation" x="-535" y="-272">goal?</label>
<nail x="-535" y="-280"/>
<nail x="-535" y="-246"/>
......
scripts/tron_testing_auto.sh
+ 1
− 3
View file @ b28efcf6
......@@ -21,8 +21,6 @@ tron_args=( # do not set -o here
"-- 8080"
)
# tron_args to one string
tron_args_str=${tron_args[0]}
for single_arg in ${tron_args[@]:1}; do
......@@ -37,7 +35,7 @@ for ((i=29;i<=test_count;i++)); do
tron_args_str_output="-o $start_dir/test_output$i $tron_args_str"
$tron_location $tron_args_str_output & tron_pid=$!
roslaunch $package_name $roslaunch_filename & roslaunch_pid=$!
trap "kill $tron_pid; kill $roslaunch_pid; wait $tron_pid; wait $roslaunch_pid; return 1" SIGINT # kill both on interrupt
trap "kill $tron_pid; kill $roslaunch_pid; wait $tron_pid; wait $roslaunch_pid; cd $start_dir; return 1" SIGINT # kill both on interrupt
wait $tron_pid
kill $roslaunch_pid
wait $roslaunch_pid # wait till actually killed, takes few seconds
......
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Please register or to comment