## For instruction on writing tutorials ## http://www.ros.org/wiki/WritingTutorials #################################### ##FILL ME IN #################################### ## for a custom note with links: ## note = ## for the canned note of "This tutorial assumes that you have completed the previous tutorials:" just add the links ## note.0= ## descriptive title for the tutorial ## title = Running long-term test ## multi-line description to be displayed in search ## description = This tutorial instructs you how to set the parameters and run long-term test. ## the next tutorial description (optional) ## next = ## links to next tutorial (optional) ## next.0.link= ## next.1.link= ## what level user is this tutorial for ## level= BeginnerCategory ## keywords = #################################### <<IncludeCSTemplate(TutorialCSHeaderTemplate)>> <<TableOfContents(4)>> === Setting parameters === Before running the test, you first must define the components you wish to be tested. This is done in a yaml file: {{{cob_hardware_test/cob_bringup_test/config/<robot>/all_components_test.yaml}}} Here is an example where you can see how the file is structured: {{{ base: goals: test_0: [0,0,0] test_1: [1,0,0] test_n: [1,-1,0] params: max_duration: 0 actuators: torso: name: "torso" default_target: "home" test_target: "front_down" arm_left: name: "arm_left" default_target: "home" test_target: "folded" sensors: laser_front: name: "laser_front" topic: /scan_front msg_type: LaserScan torso_cam3d_left_depth_points: name: "torso_cam3d_left_depth_points" topic: /torso_cam3d_left/depth_registered/points msg_type: PointCloud2 }}} For base you can define as many test-goals as you like. Max_duration parameter defines the maximum duration in minutes for a movement from one goal to another. Exceeding max_duration will count as a failure. Default value is 0 which stands for infinite (i.e. no limit). Actuators are grouped under the “actuators” key. For each actuator you define name, test_target and default_target. Sensors are grouped under the “sensors” key. For each sensor you define name, topic and msg_type. === Launching the test === Following parameters must be passed while launching the test: {{{sim}}} {{{result_dir}}} And at least one of the following two: {{{max_rounds}}} {{{max_duration}}} Here is an example how to launch the test in terminal: {{{ $ roslaunch cob_bringup_test component_test_all.launch max_duration:=2 sim:=false result_dir:=/<test_result_directory>/ }}} Test will be ended when max_duration or max_rounds is exceeded. If a component fails to move, all components will be recovered and movement is continued. If the component still fails to move after one recover, test will be terminated. === Results === Result file is generated in the given directory. The file has five sections: Tested components, Test parameters, Test log, Diagnostics and Summary. ## AUTOGENERATED DO NOT DELETE ## TutorialCategory ## FILL IN THE STACK TUTORIAL CATEGORY HERE