ROS test

unitest

This unitest is for check about correctness of a forward kinematics script.

filename : fk.py

tester: fk_test.py

To run unintest:

rosrun rostest fk_test.py

Integration test

This is intergration test show if robot get right angle from control publisher. So I created a subscriber to read the joint state. After that we can compare the angle from publisher with subscriber.

To check the joint value from publisher:

rosrun asimo_control control.py

To check the joint value from subscriber:

rosrun rostest joint_state_subscriber.py

To run integration test:

rosrun rostest joint_integration_test.py

Video

#Ros control

#Ros sensor

#Ros test