From 8ee136ef333ecf7a97f2a9fe33c6fa8e87f67412 Mon Sep 17 00:00:00 2001
From: SebastianEbert <sebastian.ebert@tu-dresden.de>
Date: Tue, 12 Apr 2022 13:32:54 +0200
Subject: [PATCH] fixed tests

---
 test/grasp_from_side_test.cpp | 27 ---------------------------
 test/side_grasping.test       |  4 ++--
 2 files changed, 2 insertions(+), 29 deletions(-)

diff --git a/test/grasp_from_side_test.cpp b/test/grasp_from_side_test.cpp
index 2fcda0f..2efce1e 100644
--- a/test/grasp_from_side_test.cpp
+++ b/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);
diff --git a/test/side_grasping.test b/test/side_grasping.test
index fe9ae97..0ba7f0e 100644
--- a/test/side_grasping.test
+++ b/test/side_grasping.test
@@ -1,10 +1,10 @@
 <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" />
-- 
GitLab