add gazebo movement test #409
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kev-the-dev
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kev-the-dev
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Nice progress on this. Not sure if @RustyBamboo had other plans for this test than I originally envisioned, but I have some feedback for the design.
Basically, does this do anything that submove f <x> right <y> doesn't? It seems to just send a move and see if the motion planner thinks it got there, which is what submove does
I'd suggest a few things:
- Verify with
/odomif it actually got there (don't trust the motion planner, as this is the thing you are testing) - Turn this into a rostest so it could be run as part of the ci process, which would be super useful!
- Hard code some common moves if user doesn't specify them
| } | ||
| } | ||
| else { | ||
| cout << "The sub failed to move forward " + x + " meter(s)" << endl; |
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Indention is all over here. Try clan-format -i <file> to autoformat your code to our standards.
| std_msgs | ||
| actionlib_msgs | ||
| mil_tools | ||
| ) |
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Only some of these dependencies are actually needed (check the includes in your code). While adding more doesn't change program behavior, it does complicate the build process and make it more confusing to read
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| // sets goal to x meter forward | ||
| goal.posetwist.pose.position.x = atoi(argv[1]); | ||
| goal.posetwist.pose.orientation.w = atoi(argv[1]); |
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Why is orientation.w being set to the same as position.x? I'm having trouble seeing the usecase for that
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