Testing in Simulation
Test Behavior
- Test the behavior in the visualization:
- To start RViz, markers and dependencies:
roslaunch humanoid_league_interactive_marker rviz_behavior_test.launch
- To start body and head behavior:
roslaunch bitbots_body_behavior behavior.launch
- To simulate the game controller:
rosrun humanoid_league_game_controller sim_gamestate.py
- Test the behavior independent from vision or walking:
roslaunch bitbots_bringup simulator_teamplayer.launch use_fake_walk:=true use_fake_vision:=true
- Test behavior with vision:
roslaunch bitbots_bringup simulator_teamplayer.launch use_fake_walk:=true
Test Motion
roslaunch bitbots_bringup simulator.launch
roslaunch bitbots_bringup motion.launch sim:=true
Test Imu in RViz
roslaunch bitbots_ros_control rviz_interactive_imu.launch