This example demonstrates how to use the SDK to perform comms testing. This is meant to be run on a Spot CORE during an Autowalk mission.
This example needs to be run with python3, and have the Spot SDK installed. See the requirements.txt file for a list of dependencies which can be installed with pip using the command:
python3 -m pip install -r requirements.txt
To run the example:
On the server computer. Note that the server computer should not be associated with controls for the robot. The networks tests may behave in a way that limits controls communications to the robot.: Setup:
sudo apt update
sudo apt install iperf3
Running:
iperf3 -s
On the Spot CORE running the client (from the Spot CORE, ROBOT_IP will always be 192.168.50.3): Run:
python3 client.py ROBOT_IP --server-hostname SERVER_IP
Specifying a UDP test:
python3 client.py ROBOT_IP --protocol udp --server-hostname SERVER_IP
Specifying a different iperf3 server port:
python3 client.py ROBOT_IP --server-port 1234 --server-hostname SERVER_IP
Running the test without running an Autowalk mission:
python3 client.py ROBOT_IP --server-hostname SERVER_IP --run-without-mission
Alternatively, this example can be run with Docker. To do so, just build and run the image. If you are building on a separate machine, you'll also need to import the image to the CORE.
Build the image:
sudo docker build -t comms_test .
Run the image:
sudo docker run -v $(pwd):/comms_out/ --env BOSDYN_CLIENT_USERNAME --env BOSDYN_CLIENT_PASSWORD comms_test ROBOT_IP --server-hostname SERVER_IP
The argument -v $(pwd):/comms_out/ allows the Docker container to save files to the current directory, so the resulting csv output file will be in the directory you just ran from. For different configurations of the comms test, see above.