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test_walk_1_real_robot fixes #720

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test_walk_1_real_robot fixes #720

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24fd3a7
`test_walk_1_real_robot` fixes
acrylic-origami Dec 2, 2022
5004b69
Reintroduce pytest skip for test_walk_1_real_robot
acrylic-origami Dec 2, 2022
c781f96
Merge branch 'master' into dev-test-walking-fixes
acrylic-origami Dec 2, 2022
26f2e7a
Update webot
Vuwij Dec 3, 2022
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2 changes: 1 addition & 1 deletion external/webots
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Submodule webots updated 5 files
+1 −1 projects/samples/contests/robocup/controllers/referee/game.json
+1 −1 projects/samples/contests/robocup/controllers/referee/game_single_bez1.json
+1 −1 projects/samples/contests/robocup/controllers/referee/game_single_bez3.json
+10 −14 projects/samples/contests/robocup/controllers/referee/referee.py
+1 −1 src/webots/control/WbController.cpp
18 changes: 11 additions & 7 deletions soccer_pycontrol/src/soccer_pycontrol/test_walking.py
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Original file line number Diff line number Diff line change
Expand Up @@ -32,6 +32,7 @@ def walker(request) -> Navigator:
config_folder_path = f"{file_path}/../../config/"
config_path = config_folder_path + f"{robot_model}_sim_pybullet.yaml"
set_rosparam_from_yaml_file(param_path=config_path)
set_rosparam_from_yaml_file(param_path=f"{file_path}/../../../{robot_model}_description/config/motor_mapping.yaml")
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delete this

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and then put the rospy.wait_for_message into this

if "DISPLAY" not in os.environ:
c = Navigator(display=False, real_time=False)
else:
Expand Down Expand Up @@ -70,8 +71,10 @@ def walker_real_robot(request) -> NavigatorRos:
config_folder_path = f"{file_path}/../../config/"
config_path = config_folder_path + f"{robot_model}.yaml"
set_rosparam_from_yaml_file(param_path=config_path)
set_rosparam_from_yaml_file(param_path=f"{file_path}/../../../{robot_model}_description/config/motor_mapping.yaml")

c = NavigatorRos()
c.real_time = True
yield c
del c

Expand Down Expand Up @@ -126,16 +129,17 @@ def test_walk_1_ros(self, walker_ros: NavigatorRos):
print(f"Final distance offset {distance_offset}")

@pytest.mark.skip
def test_walk_1_real_robot(self, walker_ros: NavigatorRos):
walker_ros.setPose(Transformation([0.0, 0, 0], [0, 0, 0, 1]))
walker_ros.ready()
walker_ros.wait(200)
@pytest.mark.parametrize("walker_real_robot", ["bez1", "bez3"], indirect=True)
def test_walk_1_real_robot(self, walker_real_robot: NavigatorRos):
walker_real_robot.setPose(Transformation([0.0, 0, 0], [0, 0, 0, 1]))
walker_real_robot.ready()
walker_real_robot.wait(200)
goal_position = Transformation([1, 0, 0], [0, 0, 0, 1])
walker_ros.setGoal(goal_position)
walk_success = walker_ros.run(single_trajectory=True)
walker_real_robot.setGoal(goal_position)
walk_success = walker_real_robot.run(single_trajectory=True)
assert walk_success

final_position = walker_ros.getPose()
final_position = walker_real_robot.getPose()
distance_offset = np.linalg.norm((final_position - goal_position.position)[0:2])

@pytest.mark.timeout(30)
Expand Down