Commit 83be48c4 authored by Olivier Stasse's avatar Olivier Stasse
Browse files

[README.md] Add information to start the test directly from python

Gives proper boolean values for compiling and installing in the right directory.
parent 4c92dadc
......@@ -18,13 +18,13 @@ catkin_init_workspace
git clone --recursive https://github.com/stack-of-tasks/talos_integration_tests.git
cd ..
catkin config --install
catkin build talos_integration_tests
catkin build talos_integration_tests --cmake-args -DPYTHON_STANDARD_LAYOUT:BOOL=ON -DPYTHON_DEB_LAYOUT:BOOL=OFF -DSETUPTOOLS_DEB_LAYOUT:BOOL=OFF
```
Preparing your environment variables:
```
source ./test_ws/install/setup.bash
source $HOME/bin/setup-opt-robotpkg.sh
source setup-sot.sh -p /opt/openrobots -r
```
# First integration tests
......@@ -35,18 +35,28 @@ To launch:
```
rostest talos_integration_tests test_kine.test
```
or
```
rosrun talos_integration_tests start_talos_gazebo_kine.py
```
The robot is supposed to move forward its right hand up to position [0.5723,-0.2885,0.7745]
There is a you tube video showing what to expect:
[![Alt text](http://i3.ytimg.com/vi/gptPEm5Qj3o/hqdefault.jpg)](https://youtu.be/gptPEm5Qj3o)
## Balancing on gazebo
To launch:
```
rostest talos_integration_tests test_sot_talos_balance.test
```
or
```
rosrun talos_integration_tests start_sot_talos_balance.py
```
The robot is supposed to walk forward 2.8 m and reached position [2.8331,0.0405,1.0019]
There is a you tube video showing what to expect:
......@@ -59,6 +69,11 @@ To launch:
```
rostest talos_integration_tests test_online_walking.test
```
or
```
rosrun talos_integration_tests start_sot_online_walking.py
```
The robot is supposed to walk forward 2.8 m and reached position [2.12,0.012,1.00]
......
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