Add integration test for gazebo_yarp_controlboard plugin #529
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Add basic integration test for the position control and the velocity control. The test simulates a simple one dof model (a pendulum) with a joint actuated by a gazebo_yarp_controlboard, and uses the remote_controlboard and the controlboardwrapper2 to specify a position first and velocity setpoint later, and verify that the simulated robot reaches the requested setpoints. To avoid the need to run the yarpserver externally, the test uses YARP in local mode.
Nicogene
approved these changes
Jan 22, 2021
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Add basic integration test for the position control and the velocity control.
The test simulates a simple one dof model (a pendulum) with a joint actuated by a gazebo_yarp_controlboard, and uses the remote_controlboard and the controlboardwrapper2 to specify a position first and velocity setpoint later, and verify that the
simulated robot reaches the requested setpoints. To avoid the need to run the yarpserver externally, the test uses YARP in local mode.
The tests uses the Gazebo-provided server fixture, using https:/robotology-dependencies/gazebo-classic-gtest to automatically download the appropriate version of gtest.