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Running daily morning show

Description: This tutorial instructs you how to set the parameters and run daily morning show test.

Tutorial Level: BEGINNER

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>/daily_show_test.yaml

Here is an example where you can see how the file is structured:

base:
  goals:
    test_0: [0.1, 0.0, 0]
    test_1: [0.0, 0.1, 0]
    test_2: [-0.1, -0.1, 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

Note that that base goals are relative positions. You can define as many test-goals as you want. Goals will be ran in ascending order, always starting from goal_0.

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 daily morning show

Following parameters must be passed while launching the test:

• sim

  result_dir

Here is an example how to launch the test in terminal:

$ roslaunch cob_bringup_test daily_morning_show.launch sim:=false result_dir:=/<test_result_directory>/

Test will be ended after after components are tested.

Results

Result file is generated in the given directory. The file has five sections: Tested components, Test parameters and Test log.