Test gazebo #70
Test gazebo #70
Conversation
Signed-off-by: Jakub Delicat <[email protected]>
Signed-off-by: Jakub Delicat <[email protected]>
Signed-off-by: Jakub Delicat <[email protected]>
Signed-off-by: Jakub Delicat <[email protected]>
Signed-off-by: Jakub Delicat <[email protected]>
Signed-off-by: Jakub Delicat <[email protected]>
Signed-off-by: Jakub Delicat <[email protected]>
Signed-off-by: Jakub Delicat <[email protected]>
Signed-off-by: Jakub Delicat <[email protected]>
Signed-off-by: Jakub Delicat <[email protected]>
Signed-off-by: Jakub Delicat <[email protected]>
Signed-off-by: Jakub Delicat <[email protected]>
Signed-off-by: Jakub Delicat <[email protected]>
Signed-off-by: Jakub Delicat <[email protected]>
Signed-off-by: Jakub Delicat <[email protected]>
Signed-off-by: Jakub Delicat <[email protected]>
Signed-off-by: Jakub Delicat <[email protected]>
Signed-off-by: Jakub Delicat <[email protected]>
Signed-off-by: Jakub Delicat <[email protected]>
Signed-off-by: Jakub Delicat <[email protected]>
| def set_and_publish_velocities( | ||
| self, goal_x_distance, goal_y_distance, goal_theta_angle | ||
| ): | ||
| self.goal_x_distance = goal_x_distance | ||
| self.goal_y_distance = goal_y_distance | ||
| self.goal_theta_angle = goal_theta_angle | ||
| self.publish_cmd_vel_messages() |
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It would be useful to establish a name. The name of the function suggests set_velocities and the attributes are called distance.
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I would like you to correct the names of the functions.
My proposal: I propose that this test only checks speed.
Let's say the speed should be within +- 5% of the set value. (I think that such a test will also be useful in the future when creating tests for a physical platform)
Additionally, in the future, separate position tests could be performed, but they would include nav2 and slam and would involve reaching the indicated point with a specified tolerance. However, it can be difficult to evaluate such a test.
Signed-off-by: Jakub Delicat <[email protected]>
|
@rafal-gorecki In regards to the test speed, the higher applications such as nav2 uses transforms published by the EKF ( Maybe, should we listen to tf instead of listening to topic? |
Signed-off-by: Jakub Delicat <[email protected]>
Signed-off-by: Jakub Delicat <[email protected]>
Signed-off-by: Jakub Delicat <[email protected]>
Signed-off-by: Jakub Delicat <[email protected]>
Signed-off-by: Jakub Delicat <[email protected]>
Signed-off-by: Jakub Delicat <[email protected]>
rafal-sugestions
…um velocity Signed-off-by: Jakub Delicat <[email protected]>
Signed-off-by: Jakub Delicat <[email protected]>
Signed-off-by: Jakub Delicat <[email protected]>
Signed-off-by: Jakub Delicat <[email protected]>
bump::patch