Added a test to retrieve all RTDE outputs and added latest URSim to CI matrix

remi-siffert-ocado · remi-siffert-ocado · commit 04fb589864e4 · 2024-10-10T17:56:33.000-04:00
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -21,6 +21,12 @@ jobs:
             ROBOT_MODEL: 'ur5e'
             URSIM_VERSION: '5.9.4'
             PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/e-series'
+          - DOCKER_RUN_OPTS: --network ursim_net
+            BEFORE_INIT: 'apt-get update -qq && apt-get install -y iproute2 iputils-ping && ip addr && ping -c5 192.168.56.101'
+            CTEST_OUTPUT_ON_FAILURE: 1
+            ROBOT_MODEL: 'ur20'
+            URSIM_VERSION: 'latest'
+            PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/e-series'
 
     steps:
       - uses: actions/checkout@v1
diff --git a/src/rtde/rtde_client.cpp b/src/rtde/rtde_client.cpp
@@ -254,7 +254,7 @@ void RTDEClient::setupOutputs(const uint16_t protocol_version)
   unsigned int num_retries = 0;
   size_t size;
   size_t written;
-  uint8_t buffer[4096];
+  uint8_t buffer[8192];
   URCL_LOG_INFO("Setting up RTDE communication with frequency %f", target_frequency_);
   if (protocol_version == 2)
   {
diff --git a/tests/test_rtde_client.cpp b/tests/test_rtde_client.cpp

Original file line number	Diff line number	Diff line change
`@@ -254,7 +254,7 @@ void RTDEClient::setupOutputs(const uint16_t protocol_version)`
`254`	`254`	`unsigned int num_retries = 0;`
`255`	`255`	`size_t size;`
`256`	`256`	`size_t written;`
`257`		`- uint8_t buffer[4096];`
	`257`	`+ uint8_t buffer[8192];`
`258`	`258`	`URCL_LOG_INFO("Setting up RTDE communication with frequency %f", target_frequency_);`
`259`	`259`	`if (protocol_version == 2)`
`260`	`260`	`{`