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