#include <gtest/gtest.h>
#include <ros/ros.h>
#include <pilz_msgs/BrakeTest.h>
#include <pilz_testutils/joint_state_publisher_mock.h>
#include <prbt_hardware_support/WriteModbusRegister.h>
#include <prbt_hardware_support/canopen_chain_node_mock.h>
#include <prbt_hardware_support/modbus_api_spec.h>
#include <prbt_hardware_support/pilz_manipulator_mock.h>
#include <prbt_hardware_support/pilz_modbus_server_mock.h>
#include <prbt_hardware_support/ros_test_helper.h>
Go to the source code of this file.
◆ main()
int main |
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◆ CONTROLLER_HOLD_MODE_SERVICE_NAME
const std::string CONTROLLER_HOLD_MODE_SERVICE_NAME { "/prbt/manipulator_joint_trajectory_controller/hold" } |
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◆ CONTROLLER_UNHOLD_MODE_SERVICE_NAME
const std::string CONTROLLER_UNHOLD_MODE_SERVICE_NAME { "/prbt/manipulator_joint_trajectory_controller/unhold" } |
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◆ EXECUTE_BRAKE_TEST_SERVICE_NAME
const std::string EXECUTE_BRAKE_TEST_SERVICE_NAME { "/prbt/execute_braketest" } |
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◆ MODBUS_BRAKE_TEST_EXPECTED_VALUE
constexpr uint16_t MODBUS_BRAKE_TEST_EXPECTED_VALUE { 2 } |
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◆ MODBUS_BRAKE_TEST_PREPARE_VALUE
constexpr uint16_t MODBUS_BRAKE_TEST_PREPARE_VALUE { 1 } |
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◆ MODBUS_WRITE_SERVICE_NAME
const std::string MODBUS_WRITE_SERVICE_NAME { "/pilz_modbus_client_node/modbus_write" } |
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◆ WAIT_FOR_BRAKE_TEST_SERVICE_TIMEOUT_S
constexpr double WAIT_FOR_BRAKE_TEST_SERVICE_TIMEOUT_S { 5.0 } |
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