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Remove sending an idle command in quintic spline test #275

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Merged
merged 1 commit into from
Feb 25, 2025
Merged

Remove sending an idle command in quintic spline test #275

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9 changes: 0 additions & 9 deletions tests/test_spline_interpolation.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -141,11 +141,6 @@ class SplineInterpolationTest : public ::testing::Test
ASSERT_TRUE(g_my_robot->isHealthy());
}

void sendIdle()
{
ASSERT_TRUE(g_my_robot->ur_driver_->writeKeepalive(RobotReceiveTimeout::sec()));
}

void sendTrajectory(const std::vector<urcl::vector6d_t>& s_pos, const std::vector<urcl::vector6d_t>& s_vel,
const std::vector<urcl::vector6d_t>& s_acc, const std::vector<double>& s_time)
{
Expand Down Expand Up @@ -458,10 +453,6 @@ TEST_F(SplineInterpolationTest, quintic_spline_with_end_point_velocity_with_spee
std::unique_ptr<rtde_interface::DataPackage> data_pkg;
g_my_robot->readDataPackage(data_pkg);

// Align timestep
sendIdle();
g_my_robot->readDataPackage(data_pkg);

urcl::vector6d_t joint_positions, joint_velocities, joint_acc;
ASSERT_TRUE(data_pkg->getData("target_q", joint_positions));
ASSERT_TRUE(data_pkg->getData("target_qd", joint_velocities));
Expand Down
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