Make UrDriver tests run without ctest (#270)

As `ctest` runs each test individually, an error with test
initialization introduced earlier didn't show.

This change makes sure that running all tests consecutively with
initializing the test suite only once works correctly.

Author: urfeex

tests/test_ur_driver.cpp

@@ -62,7 +62,17 @@ class UrDriverTest : public ::testing::Test
 
   void SetUp()
   {
-    ASSERT_TRUE(g_my_robot->isHealthy());
+    if (!g_my_robot->isHealthy())
+    {
+      ASSERT_TRUE(g_my_robot->resendRobotProgram());
+      ASSERT_TRUE(g_my_robot->waitForProgramRunning(500));
+    }
+  }
+
+  void TearDown()
+  {
+    g_my_robot->ur_driver_->stopControl();
+    g_my_robot->waitForProgramNotRunning(1000);
   }
 };
 
@@ -224,13 +234,16 @@ TEST_F(UrDriverTest, send_robot_program_retry_on_failure)
 {
   // Check that sendRobotProgram is robust to the secondary stream being disconnected. This is what happens when
   // switching from Remote to Local and back to Remote mode for example.
-  g_my_robot->ur_driver_->secondary_stream_->close();
 
-  std::this_thread::sleep_for(std::chrono::milliseconds(100));
+  // To be able to re-send the robot program we'll have to make sure it isn't running
+  g_my_robot->ur_driver_->stopControl();
+  g_my_robot->waitForProgramNotRunning();
+
+  g_my_robot->ur_driver_->secondary_stream_->close();
 
   EXPECT_TRUE(g_my_robot->resendRobotProgram());
 
-  EXPECT_TRUE(g_my_robot->waitForProgramRunning());
+  EXPECT_TRUE(g_my_robot->waitForProgramRunning(1000));
 }
 
 TEST_F(UrDriverTest, reset_rtde_client)