diff --git a/test/grasp_from_side_test.cpp b/test/grasp_from_side_test.cpp index 7b4beee247d9c26b5ad060d4a6057042f98bc3ee..23a201ec35d8ec4e8385f7a7cda4e900a427d921 100644 --- a/test/grasp_from_side_test.cpp +++ b/test/grasp_from_side_test.cpp @@ -114,6 +114,8 @@ protected: TEST_F(Grasping, SIDE_GRASPING_1) { + ROS_ERROR("TEST 1"); + geometry_msgs::Pose pick_table_pose; geometry_msgs::Pose place_table_pose; geometry_msgs::Pose obj_pose; @@ -139,15 +141,18 @@ TEST_F(Grasping, SIDE_GRASPING_1) { place_pose.orientation = tf2::toMsg(orientation); place_pose.position.x = place_table_pose.position.x; place_pose.position.y = place_table_pose.position.y; - place_pose.position.z = place_table_pose.position.z + 0.01; + place_pose.position.z = 0.4 + 0.1 + 0.01; // table height + object height / 2 + buffer + + ROS_ERROR("TEST 2"); doTest(pick_table_pose, place_table_pose, obj_pose, place_pose); + ROS_ERROR("TEST 3"); } int main(int argc, char **argv) { testing::InitGoogleTest(&argc, argv); - ros::init(argc, argv, "grasping_side_test"); + ros::init(argc, argv, "tests_side_grasping"); ros::NodeHandle n("panda_grasping"); ROS_INFO_NAMED("constraint_planner", ">>>>>>>>>>>>>>>> WAITING FOR ROBOT INIT <<<<<<<<<<<<<<<");