Testing in simulation

Testing

This Doc describe how to test the robot in simulation environment.

Set Environment

• mv set_gazebo_environment catkin_catkinname/src
• bash set_gazebo_environment to set test environment

Test Behavior

• Test the behavior in the visualization

  • roslaunch humanoid_league_interactive_marker rviz_behavior_test.launch to start rViz, markers and dependencies
  • roslaunch bitbots_body_behavior behavior.launch to start body and head behavior
  • rosrun humanoid_league_game_controller sim_gamestate.py to simulate the game controller

• Test the behavior independent from vision or walking

  • roslaunch bitbots_bringup simulator_teamplayer.launch use_fake_walk:=true use_fake_vision:=true

• Test behavior with vision

  • roslaunch bitbots_bringup simulator_teamplayer.launch use_fake_walk:=true

Test Motion

• roslaunch bitbots_bringup simulator.launch
• roslaunch bitbots_bringup motion.launch sim:=true

Test Imu in RViz

• roslaunch bitbots_ros_control rviz_interactive_imu.launch

Run all the packages

• roslaunch bitbots_bringup simulator.launch
• roslaunch bitbots_bringup highlevel.launch vision:=true use_fake_walk:=true
• roslaunch bitbots_bringup load_robot_description.launch
  besides，you should run gamecontroller in another terminal.