fixed tests

test/grasp_from_side_test.cpp

@@ -138,17 +138,11 @@ TEST_F(Grasping, SIDE_GRASPING_1) {
     place_table_pose.position.z = 0.2;
     place_table_pose.orientation.w = 1.0;
 
-    /*
     obj_pose.position.x = 0.5;
     obj_pose.position.y = -0.5;
     obj_pose.position.z = 0.5;
     obj_pose.orientation.w = 1.0;
-     */
 
-    obj_pose.position.x = 0;
-    obj_pose.position.y = 0;
-    obj_pose.position.z = 0;
-    obj_pose.orientation.w = 1.0;
 
     place_pose.orientation = tf2::toMsg(place_orientation);
     place_pose.position.x = place_table_pose.position.x;
@@ -176,16 +170,9 @@ TEST_F(Grasping, SIDE_GRASPING_2) {
     place_table_pose.position.z = 0.2;
     place_table_pose.orientation.w = 1.0;
 
-    /*
     obj_pose.position.x = -0.5;
     obj_pose.position.y = -0.5;
     obj_pose.position.z = 0.5;
-    obj_pose.orientation.w = 1.0;
-     */
-
-    obj_pose.position.x = 0;
-    obj_pose.position.y = 0;
-    obj_pose.position.z = 0;
     obj_pose.orientation.w = 1.0;
 
     place_pose.orientation = tf2::toMsg(place_orientation);
@@ -214,16 +201,9 @@ TEST_F(Grasping, SIDE_GRASPING_3) {
     place_table_pose.position.z = 0.2;
     place_table_pose.orientation.w = 1.0;
 
-    /*
     obj_pose.position.x = 0.5;
     obj_pose.position.y = 0.5;
     obj_pose.position.z = 0.5;
-    obj_pose.orientation.w = 1.0;
-     */
-
-    obj_pose.position.x = 0;
-    obj_pose.position.y = 0;
-    obj_pose.position.z = 0;
     obj_pose.orientation.w = 1.0;
 
     place_pose.orientation = tf2::toMsg(place_orientation);
@@ -252,16 +232,9 @@ TEST_F(Grasping, SIDE_GRASPING_4) {
     place_table_pose.position.z = 0.2;
     place_table_pose.orientation.w = 1.0;
 
-    /*
     obj_pose.position.x = 0.5;
     obj_pose.position.y = -0.5;
     obj_pose.position.z = 0.5;
-    obj_pose.orientation.w = 1.0;
-     */
-
-    obj_pose.position.x = 0;
-    obj_pose.position.y = 0;
-    obj_pose.position.z = 0;
     obj_pose.orientation.w = 1.0;
 
     place_pose.orientation = tf2::toMsg(place_orientation);

test/side_grasping.test

 <launch>
     <include file="$(find panda_simulation)/launch/simulation.launch"/>
 
-    <node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false"
+  <!--  <node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false"
           args="-d $(find panda_grasping)/test/plan_visualizer.rviz" output="screen">
         <rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/>
-    </node>
+    </node>-->
 
 
     <include file="$(find panda_moveit_config)/launch/moveit_rviz.launch" />