Bug #2408
Create tests for exemplary components
Status: | Resolved | Start date: | 10/14/2015 | |
---|---|---|---|---|
Priority: | Normal | Due date: | ||
Assignee: | H. Oestreich | % Done: | 100% | |
Category: | - | |||
Target version: | 0.1 |
Description
As a first real-world test, please create test scripts for realistic components from the robocup system. Unfortunately, there is no easy component which only requires a single stream. So we need an implementation to provide inputs in parallel. Therefore, the most usable candidate is:
objectbuilder¶
This component creates person percepts from detected legs and the global position of the robot.
To start the component:
/vol/robocup/faults-nightly/bin/ObjectBuilderAM -i 1 --rsb --debug
It receives two input streams:
/ros4rsb/slampose/¶
rst.geometry.Pose
, 10 Hz
Exemplary messages for this channel look like (Common Lisp tools notation for the protocol buffers message):
#<POSE {100DC6BBD3}> Translation: #<TRANSLATION {100DC6BC13}> X : 1.0241012971738617d0 Y : -0.33306173012149587d0 Z : 0.0d0 Frame-Id: "" Rotation : #<ROTATION {100DC6BC93}> Qw : 0.4331377223006606d0 Qx : 0.0d0 Qy : 0.0d0 Qz : 0.9013277503329162d0 Frame-Id: ""
/hri/percepts/legs/¶
rst.hri.LegsList
, 60 Hz
Exemplary messages for this channel look like (Common Lisp tools notation for the protocol buffers message):
#<LEGS-LIST {100F934653}> List: #<LEGS {100F9346F3}> Angle : -2.9764585 Angle-Variance : 0.008 Distance : 3335.995 Distance-Variance: 250.0 Pair : T #<LEGS {100F9347A3}> Angle : -2.7562222 Angle-Variance : 0.008 Distance : 1482.7239 Distance-Variance: 250.0 Pair : T #<LEGS {100F934863}> Angle : 0.12211111 Angle-Variance : 0.008 Distance : 3055.0627 Distance-Variance: 250.0 Pair : T #<LEGS {100F9348E3}> Angle : -2.232889 Angle-Variance : 0.008 Distance : 3729.7957 Distance-Variance: 250.0 Pair : <empty sequence> #<LEGS {100F9349C3}> Angle : 0.47536114 Angle-Variance : 0.008 Distance : 6156.0 Distance-Variance: 250.0 Pair : NIL #<LEGS {100F934A43}> Angle : 0.5451389 Angle-Variance : 0.008 Distance : 4903.0005 Distance-Variance: 250.0 Pair : NIL #<LEGS {100F934AC3}> Angle : 0.9289167 Angle-Variance : 0.008 Distance : 7598.0005 Distance-Variance: 250.0 Pair : NIL #<LEGS {100F934B43}> Angle : 3.0702224 Angle-Variance : 0.008 Distance : 3733.4966 Distance-Variance: 250.0 Pair : NIL
The number of Legs in each message varies.
Please provide a test program which varies the rates as well as the number of legs in the leg messages.
Related issues
History
#1 Updated by H. Oestreich over 8 years ago
- Status changed from New to In Progress
- % Done changed from 0 to 20
First test program implemented and tested successfully.
TODO: The actual data is randomly generated. Perhaps implement a more reasonable data generation.
#2 Updated by J. Wienke over 8 years ago
- Related to Tasks #2412: Extract component tests in individual examples added
#3 Updated by H. Oestreich over 8 years ago
- Status changed from In Progress to Resolved
- % Done changed from 20 to 100
Test has been seperated. More reasonable data generation can be done in the future but does not seem necessary at the moment.