Test Plan
1. Test coord_finder with Lidar
Test date:
Objective
Can we get x and y coordinates for the closest object to Lidar within 0 to 180 degrees?
Coordinates should be relative to the robot (at 0,0), and in meters.
Steps
Launch File Params:
object_detection: false
lidar-distance-angle-measurement: true
velocity sender: irrelevant - COMMENT OUT VELOCITY AND WAYPOINT SENDER
Launch Nodes
Launch prop_follower.launch and lidar node.
Verify
Check the /prop_local_coords topic. It should return coordinates for the closest point. "x" being north, "y" being east (relative to the robot).
Results
2. Test velocity_sender with fake coordinates
Test date:
Objective
Can we actually get thrusters to spin with the velocity sender node publishing coordinates?
Steps
Launch File Params:
object_detection: false
lidar-distance-angle-measurement: false
velocity sender: true
Launch Nodes
Launch prop_follower.launch and lidar node.
Verify
Are the thrusters spinning? Can we see the thruster inputs?
Results
3. Test waypoint_sender with fake coordinates
Test date:
Objective
Can we actually get thrusters to spin with the waypoint sender node publishing coordinates?
Steps
Launch File Params:
object_detection: false
lidar-distance-angle-measurement: false
velocity sender: false
Launch Nodes
Launch prop_follower.launch and lidar node.
Verify
Are the thrusters spinning? Can we see the thruster inputs?
Results
4. Test velocity_sender with coord finder
Objective
The boat travels to the closest detected point.
Steps
Launch File Params:
object_detection: false
lidar-distance-angle-measurement: true
velocity sender: true
Launch Nodes
Launch prop_follower.launch and lidar node.
Verify
Is the boat moving toward the closest point?
Results
5. Test waypoint_sender with coord finder
Objective
The boat travels to the closest detected point.
Steps
Launch File Params:
object_detection: false
lidar-distance-angle-measurement: true
velocity sender: false
Launch Nodes
Launch prop_follower.launch and lidar node.
Verify
Is the boat moving toward the closest point?
Result
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