Fix flaky IK in asan unit test: increase timeout

ubi-agni · Jul 9, 2024 · d4db4cb · d4db4cb
1 parent 26d1468
commit d4db4cb
Showing 1 changed file with 4 additions and 0 deletions.
diff --git a/core/test/test.launch.py b/core/test/test.launch.py
@@ -19,6 +19,10 @@ def generate_test_description():
         .to_moveit_configs()
     )
 
+    # increase the timeout for the kinematics solver to fix flaky IK for asan
+    k = moveit_config.robot_description_kinematics["robot_description_kinematics"]
+    k["panda_arm"]["kinematics_solver_timeout"] = 5.0
+
     test_exec = Node(
         executable=[
             LaunchConfiguration("test_binary"),