Test Interface

Run and manage tests. This class can be imported into other ROS packages to enable control of tests. This interface is used in the backend of the GUI.

class test_interface.TestRunner(name, debug=False)

A ROS Action server to run single tests.

Parameters:

name (str) – Name of the Action Server

balance(type)

Balance either the load or F/T sensor

Parameters:

type (str) – The type of balance to perform. Must be either pose or ft

estop()

Perform an Emergency Stop

get_test_status()

Get the current state of the test

Returns:

state – The current state of the test

Return type:

ActionFeedback

load_profile(filename)

Load the config profile from a file

Parameters:

filename (str) – Filename to load

run_test(wait_for_finish=True)

Run a test and wait for the result

Parameters:

wait_for_finish (bool) – Wait for the test to finish

Returns:

result – The result of the test.

Return type:

ActionResult

set_profile(profile)

Set the config profile

Parameters:

profile (dict) – Testing profile to use

set_savefile(save_file)

Set the filename to save

Parameters:

save_file (str) – Filename to save data to

shutdown()

Shut down the node gracefully