def test_set_vel(self): mc = MotionControl() t = Twist() t.linear.x = 0.6 t.angular.z = 0.12 mc.set_vel(t) self.assertEquals(mc.vel_pid.target, 0.6) self.assertEquals(mc.rot_pid.target, 0.12)
def test_vel_pid(self): rospy.init_node('test_vel_pid') controller = MotionControl() goal = Bunch() goal.target = 5.0 controller.motion_goal(goal) for i in range(30): rospy.logwarn(i) time.sleep(1) controller.stop()
def test_vel_pid(self): rospy.init_node('test_motion_control') controller = MotionControl() goal = Bunch() goal.target = 2.5 controller.motion_goal(goal) for i in range(40): rospy.logwarn(i) time.sleep(1) # goal.target = 0.0 # controller.motion_goal(goal) # for i in range(30): # rospy.logwarn(i) # time.sleep(1) # goal.target = 0.5 # controller.motion_goal(goal) # for i in range(30): # rospy.logwarn(i) time.sleep(1) controller.stop()