Testing PuSHR

This tutorial provides a comprehensive guide to testing PuSHR configurations.

Introduction

Available test configurations are as follows:

Test Configuration	Code
TA+CLCBS+MPC	PuSHR
CLCBS+MPC	GP-CA
CLCBS+PP	GP
NHTTC	LC
TA+NHTTC	LC-TA

NHTTC

Follow instructions here to download NHTTC

Autotest Set up

To initiate the autotest setup, follow these steps:

1. Modify the paths in the .yaml file located at ~/catkin_ws/src/PuSHR-Noetic/mushr_pixelart_mpc/config/autotest.yaml to match your system configuration.
2. Adjust the num_iterations parameter to specify the number of iterations for each test configuration.
3. Update the bench_name to reflect the name of the file you're currently using for testing.
4. Modify the autotest.py script located at ~/catkin_ws/src/PuSHR-Noetic/mushr_pixelart_mpc/scripts/autotest_mpc.py to match your setup.

for i in range(6):
    test = autotest("/home/stark/catkin_mushr/src/mushr_pixelart_mpc/config/autotest.yaml", "ex" + str(i + 1))
    test.run_autotest()

Make sure to modify the file path to match your set up. As is shown above, autotest.py will run the scenarios included in ~/catkin_ws/src/PuSHR-Noetic/mushr_pixelart_mpc/benchmarks.

For running a single scenario, use:

for i in range(1):
    test = autotest("/your/file/path/src/mushr_pixelart_mpc/config/autotest.yaml", "your_file_name")
    test.run_autotest()

To make your own configuration of test scenarios, follow the same format of the .yaml files included in ~/catkin_ws/src/PuSHR-Noetic/mushr_pixelart_mpc/benchmarks

Results Set up

Organize the results of your tests by creating folders in the following format for each test scenario run:

~/catkin_ws/src/PuSHR-Noetic/mushr_pixelart_mpc/bags/test_file_name/test_configuration

For example, when running ex1 and testing all configurations, create folders like:

~/catkin_ws/src/PuSHR-Noetic/mushr_pixelart_mpc/bags/ex1/TA+CLCBS+MPC
~/catkin_ws/src/PuSHR-Noetic/mushr_pixelart_mpc/bags/ex1/CLCBS+MPC
~/catkin_ws/src/PuSHR-Noetic/mushr_pixelart_mpc/bags/ex1/CLCBS+PP
~/catkin_ws/src/PuSHR-Noetic/mushr_pixelart_mpc/bags/ex1/NHTTC
~/catkin_ws/src/PuSHR-Noetic/mushr_pixelart_mpc/bags/ex1/TA+NHTTC

This step must be completed before running autotest.

Data Collection of Results

After simulations, results are stored in matrices (refer to lines 414-420 in autotest.py). To view these results, utilize data.py included in ~/catkin_ws/src/PuSHR-Noetic/mushr_pixelart_mpc/scripts and adjust the file paths accordingly. The results will be displayed on the screen.

Visualizing with rviz

In a terminal:

rviz -d ~/catkin_ws/src/clcbs_ros/rviz/clcbs.rviz

Make sure to start rviz before launching init_clcbs.launch.