diff --git a/capabilities/test/test_task_execution.cpp b/capabilities/test/test_task_execution.cpp index 234fd655..fb0f2853 100644 --- a/capabilities/test/test_task_execution.cpp +++ b/capabilities/test/test_task_execution.cpp @@ -35,7 +35,7 @@ struct PandaMoveTo : public testing::Test // The arm starts in the "ready" pose so make sure we can move to a different known location TEST_F(PandaMoveTo, successExecution) { move_to->setGoal("extended"); - EXPECT_TRUE(t.plan()); + ASSERT_TRUE(t.plan()); auto result = t.execute(*t.solutions().front()); EXPECT_EQ(result.val, moveit_msgs::msg::MoveItErrorCodes::SUCCESS); } @@ -43,7 +43,7 @@ TEST_F(PandaMoveTo, successExecution) { // After the arm successfully moved to "extended", move back to "ready" and make sure preempt() works as expected TEST_F(PandaMoveTo, preemptExecution) { move_to->setGoal("ready"); - EXPECT_TRUE(t.plan()); + ASSERT_TRUE(t.plan()); // extract the expected execution time (for this task its in the last sub_trajectory) moveit_task_constructor_msgs::msg::Solution s; t.solutions().front()->toMsg(s, nullptr);