## 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 5 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 5 years ago

**Related to***Tasks #2412: Extract component tests in individual examples*added

#### #3 Updated by H. Oestreich over 5 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.