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_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()
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()