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