From d4db4cb707d27cb04785b999de8a997d955a2dd1 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Tue, 9 Jul 2024 15:16:29 +0200
Subject: [PATCH] Fix flaky IK in asan unit test: increase timeout

---
 core/test/test.launch.py | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/core/test/test.launch.py b/core/test/test.launch.py
index 023283bea..dd574a413 100644
--- 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"),