coscene-io · yujingz · May 21, 2025 · May 16, 2025 · May 18, 2025 · May 20, 2025
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diff --git a/docs/use-case/4-online-simulation-test.md b/docs/use-case/4-online-simulation-test.md
@@ -0,0 +1,195 @@
+---
+sidebar_position: 4
+---
+
+# 云端仿真自动化算法验证
+
+## 背景
+
+在泛机器人研发过程中，针对算法和软件的反复测试与验证，是日常工作中最耗时、最容易出错的一环。
+
+你是不是也经历过这样的日常？
+
+- 算法改了一行代码，结果测了一整天
+- 本地仿真环境突然坏掉，重装又踩坑
+- 多人协作，各测各的，结果对不上…
+
+尤其对于**移动机器人、具身智能**等领域的研发人员来说：
+
+- 软件迭代频繁，需要持续验证
+- 仿真环境配置复杂，维护成本高
+- 测试标准不统一，结果难以量化
+- 本地计算资源有限，测试任务排队严重
+
+这些问题导致本地测试效率低下、协作困难。
+
+---
+
+刻行时空一直在思考：有没有一种方法，只要修改完算法，就可以随时进行无痛进行效果验证，还能把测试结果标准输出？
+
+刻行时空在**数据闭环**与**生产力工具**搭建方面拥有丰富经验，基于我们先进的 **ScenenOps 理念**，提供了一站式云端仿真平台：  
+**简单五步，完成平台搭建，你只需上传程序，平台自动运行测试、生成可视化结果，全流程在线、零依赖！**
+![4-online-simulation-test-1](./img/4-online-simulation-test-1.png)
+
+本文以 Ubuntu 22.04 + ROS 2 Humble + Gazebo 环境为例，介绍如何在完成算法修改后，通过刻行时空平台进行云端仿真测试。
+
+更多仿真软件的支持，请关注刻行时空官网：[刻行时空平台](https://www.coscene.cn/)。
+
+---
+
+## 🧱 Step 1：构建属于你自己的算法与软件测试底座
+
+我们知道，每支团队的技术栈都不一样。  
+因此，我们支持用户基于自己的系统依赖构建专属镜像并上传。
+
+你可以使用如下 Dockerfile 模板来构建环境：
+
+```Dockerfile
+# syntax = docker/dockerfile:1.2
+ARG BASE_IMAGE=osrf/ros:humble-desktop-full
+FROM ${BASE_IMAGE} as base
+...
+WORKDIR /action/ros2_ws
+```
+
+开源示例项目 👉 [Regression_Test-Sample](https://github.com/coscene-io/Regression_Test-Sample/blob/main/Dockerfile)
+
+构建完成后，打包推送至平台镜像仓库，全公司同事可复用这个稳定的测试环境，无需本地重复搭建。
+
+1. 登录刻行时空平台，进入组织管理获取专属镜像仓库地址
+   ![4-online-simulation-test-2](./img/4-online-simulation-test-2.PNG)
+   ![4-online-simulation-test-3](./img/4-online-simulation-test-3.PNG)
+   ![4-online-simulation-test-4](./img/4-online-simulation-test-4.PNG)
+
+2. 登录 Docker 并打包推送镜像  
+   ![4-online-simulation-test-5](./img/4-online-simulation-test-5.PNG)
+
+3. 登录平台查看镜像并获取链接  
+   ![4-online-simulation-test-6](./img/4-online-simulation-test-6.png)
+
+完成上述操作后，相当于为后续的各种仿真算法测试验证，搭建了一套完整的运行环境底座，里面包含了所有需要的测试软件依赖环境。
+
+---
+
+## 📦 Step 2：上传你的算法与测试程序
+
+算法/软件代码修改完成后，对代码进行编译。
+![4-online-simulation-test-7](./img/4-online-simulation-test-7.png)
+
+将其压缩为 `.zip` 或 `.tar.gz` 上传至平台，建议上传 `install` 目录的压缩包：
+
+```bash
+tar -czvf install.tar.gz ./install
+```
+
+进入平台项目，点击上传程序按钮，平台将自动解压并在后续执行测试时，在对应容器中运行。
+![4-online-simulation-test-8](./img/4-online-simulation-test-8.png)
+![4-online-simulation-test-9](./img/4-online-simulation-test-9.png)
+![4-online-simulation-test-10](./img/4-online-simulation-test-10.png)
+![4-online-simulation-test-11](./img/4-online-simulation-test-11.png)
+
+同时支持：
+
+- 源码构建与编译后的可执行程序
+
+可参考平台文档 👉 https://docs.coscene.cn/docs/sim-and-tests/regression/test-bundle-management
+
+**_对于企业用户，还支持 GitHub / GitLab 持续集成上传构建产物，跳过手动上传过程。_**
+
+---
+
+## 🧪 Step 3：准备你的测试用例
+
+平台支持通过 `组织 → 项目 → 记录` 的结构，配置多条测试用例。
+
+每条测试记录就像一个预设的虚拟测试现场：
+
+- 地图：`map.pgm` + `map.yaml`
+- 机器人模型：如 `turtlebot3_waffle_pi`
+- 配置文件：如 `case.yaml`
+- Gazebo world 文件：定义仿真环境
+- 其他测试依赖资源
+
+测试记录文件结构示例：
+
+```
+test_case/
+├── map.pgm
+├── map.yaml
+├── case.yaml
+├── world.world
+├── extra_configs/
+```
+
+![4-online-simulation-test-12](./img/4-online-simulation-test-12.png)
+
+:::info 重要说明
+
+### 文件结构规范
+
+请严格遵循[平台规定的路径结构](https://docs.coscene.cn/docs/sim-and-tests/regression/intro)：
+
+![文件结构示意图](./img/4-online-simulation-test-13.png)
+
+:::
+
+### 标签管理
+
+为记录添加标签（如 `Navigation_Error`）用于测试筛选，具体步骤如下：
+
+![步骤 1：进入标签管理](./img/4-online-simulation-test-14.png)
+![步骤 2：创建新标签](./img/4-online-simulation-test-15.png)
+![步骤 3：设置标签属性](./img/4-online-simulation-test-16.png)
+![步骤 4：应用标签](./img/4-online-simulation-test-17.png)
+
+完成上述配置后，您可以在下一步使用这些标签（如 `Navigation_Error`）来筛选测试用例。
+
+## ⚙️ Step 4：配置测试触发逻辑
+
+每个项目都可以配置自动化触发策略：
+
+- 每次上传算法自动触发测试
+- 手动选择记录执行
+- 按标签或版本筛选测试集
+
+详细配置参考 👉 https://docs.coscene.cn/docs/sim-and-tests/regression/config-management
+![4-online-simulation-test-18](./img/4-online-simulation-test-18.png)
+![4-online-simulation-test-19](./img/4-online-simulation-test-19.png)
+![4-online-simulation-test-20](./img/4-online-simulation-test-20.png)
+
+---
+
+## 📊 Step 5：运行测试，观测测试过程与结果
+
+测试运行过程中支持：
+
+- 实时查看可视化页面中机器人运行状态，支持导入 gazebo环境同步查看。
+- 自动录制测试过程数据。
+- 输出标准化测试报告。
+
+![4-online-simulation-test-21](./img/4-online-simulation-test-21.png)
+![4-online-simulation-test-22](./img/4-online-simulation-test-22.png)
+![4-online-simulation-test-23](./img/4-online-simulation-test-23.gif)
+
+报告内容：
+
+- 📍 机器人运行轨迹
+- ✅ 成功 / 失败评分指标
+- 🪵 日志输出 / 异常信息
+- 🖼️ 可视化图表与统计
+  ![4-online-simulation-test-24](./img/4-online-simulation-test-24.png)
+  ![4-online-simulation-test-25](./img/4-online-simulation-test-25.png)
+
+---
+
+## 🚀 结语：把繁琐的测试交给刻行时空，轻装上阵搞研发
+
+每次代码更新之后，你不再需要：
+
+- 反复搭环境
+- 重复运行脚本
+- 对比日志找结果
+
+只需一键上传，平台自动完成验证，全流程标准化、自动化，帮助你把更多时间投入到真正重要的工作中！
+
+👉 欢迎注册体验：https://www.coscene.cn/
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