Testing in Simulation

Test Behavior

• Test the behavior in the visualization:

  1. To start RViz, markers and dependencies:

     roslaunch humanoid_league_interactive_marker rviz_behavior_test.launch
     

  2. To start body and head behavior:

     roslaunch bitbots_body_behavior behavior.launch
     

  3. 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