RSB Performance Test API: Issueshttps://code.cor-lab.de/https://code.cor-lab.de/favicon.ico?14019720732015-10-14T13:19:59ZOpen Source Collaboration Platform
Redmine Bug #2408 (Resolved): Create tests for exemplary componentshttps://code.cor-lab.de/issues/24082015-10-14T13:19:59ZJ. Wienkejwienke@techfak.uni-bielefeld.de
<p>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:</p>
<a name="objectbuilder"></a>
<h2 >objectbuilder<a href="#objectbuilder" class="wiki-anchor">¶</a></h2>
<p>This component creates person percepts from detected legs and the global position of the robot.</p>
<p>To start the component:<br /><pre>
/vol/robocup/faults-nightly/bin/ObjectBuilderAM -i 1 --rsb --debug
</pre></p>
<p>It receives two input streams:</p>
<a name="ros4rsbslampose"></a>
<h3 >/ros4rsb/slampose/<a href="#ros4rsbslampose" class="wiki-anchor">¶</a></h3>
<p><code>rst.geometry.Pose</code>, 10 Hz</p>
<p>Exemplary messages for this channel look like (Common Lisp tools notation for the protocol buffers message):</p>
<pre>
#<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: ""
</pre>
<a name="hriperceptslegs"></a>
<h3 >/hri/percepts/legs/<a href="#hriperceptslegs" class="wiki-anchor">¶</a></h3>
<p><code>rst.hri.LegsList</code>, 60 Hz</p>
<p>Exemplary messages for this channel look like (Common Lisp tools notation for the protocol buffers message):</p>
<pre>
#<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
</pre>
<p>The number of Legs in each message varies.</p>
<p>Please provide a test program which varies the rates as well as the number of legs in the leg messages.</p>