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Terminal velocity test #73

Merged
merged 14 commits into from
Dec 1, 2021
Merged

Terminal velocity test #73

merged 14 commits into from
Dec 1, 2021

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arjo129
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@arjo129 arjo129 commented Nov 11, 2021

This test evaluates whether the hydrodynamic plugin successfully performs damping when a thrust is applied. Based on previous discussion with MBARI at 300rpm, we should be moving at 1ms^-1. This test checks this behaviour. Furthermore, by starting 4 vehicles out in different positions and orientations, this test makes sure that the transforms of the hydrodynamics plugin are correct.

@arjo129
Add starworld
65a5336 
Signed-off-by: Arjo Chakravarty <arjo@openrobotics.org>
@arjo129
rename test add to build
534032d 
Signed-off-by: Arjo Chakravarty <arjo@openrobotics.org>
@arjo129
check final velocity with hydrodynamics.
02e4f76 
Signed-off-by: Arjo Chakravarty <arjo@openrobotics.org>
@arjo129
Add rotation constraints
191298b 
Signed-off-by: Arjo Chakravarty <arjo@openrobotics.org>
@arjo129
Add damping checks
46d40f3 
Signed-off-by: Arjo Chakravarty <arjo@openrobotics.org>
chapulina
chapulina reviewed Nov 11, 2021
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I think this is a good integration test. I like it how it tests different directions.

With so many plugins involved, it's hard to tell how much each of them is contributing to the deacceleration though.

lrauv_ignition_plugins/test/test_hydrodynamics_equilibrium_velocity.cc Outdated Show resolved Hide resolved
lrauv_ignition_plugins/test/test_hydrodynamics_equilibrium_velocity.cc Outdated Show resolved Hide resolved
@arjo129
Hydrodynamic equilibrium
8413beb 
Signed-off-by: Arjo Chakravarty <arjo@openrobotics.org>
@arjo129
Merge branch 'main' into arjo/test/hydro_dynamics
ff0f222 
Signed-off-by: Arjo Chakravarty <arjo@openrobotics.org>
@arjo129
Merge branch 'main' into arjo/test/hydro_dynamics
d6a17d1
@arjo129
Update to use new upstreamed thruster plugin
4fa9464 
Signed-off-by: Arjo Chakravarty <arjo@openrobotics.org>
@arjo129
Address remaining PR feedback. Add assertions.
3202298 
Signed-off-by: Arjo Chakravarty <arjo@openrobotics.org>
@arjo129 arjo129 linked an issue Nov 30, 2021 that may be closed by this pull request
Hydrodynamics Unit tests #68
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@arjo129 arjo129 changed the title Hydrodynamics test Terminal velocity test Nov 30, 2021
chapulina
chapulina approved these changes Nov 30, 2021
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Nice! I think some expectations may end up being flaky, but we can deal with it if / when it happens.

lrauv_ignition_plugins/test/test_hydrodynamics_equilibrium_velocity.cc Outdated Show resolved Hide resolved
@arjo129
spelling fix
59da8df 
Signed-off-by: Arjo Chakravarty <arjo@openrobotics.org>
@arjo129
losen yoyo expectations
f0929eb 
Signed-off-by: Arjo Chakravarty <arjo@openrobotics.org>
@arjo129 arjo129 merged commit f0bef55 into main Dec 1, 2021
@arjo129 arjo129 deleted the arjo/test/hydro_dynamics branch December 1, 2021 02:34
@caguero caguero mentioned this pull request Nov 2, 2021
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Hydrodynamics Unit tests
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@arjo129 @chapulina