Unverified Commit f059b066 authored by Guilhem Saurel's avatar Guilhem Saurel Committed by GitHub
Browse files

Merge pull request #1 from nim65s/master

run in docker
parents f5348dc3 d019596e
ARG UBUNTU_VERSION=18.04
FROM nvidia/opengl:1.0-glvnd-runtime-ubuntu${UBUNTU_VERSION}
ARG UBUNTU=bionic
ARG ROS_DISTRO=melodic
# ROS packages
RUN apt-get update -qqy && DEBIAN_FRONTEND=noninteractive apt-get install -qqy gnupg2 && rm -rf /var/lib/apt/lists \
&& echo "deb http://packages.ros.org/ros/ubuntu ${UBUNTU} main" > /etc/apt/sources.list.d/ros-latest.list \
&& apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
# robotpkg packages
ADD http://robotpkg.openrobots.org/packages/debian/robotpkg.key /
RUN echo "deb [arch=amd64] http://robotpkg.openrobots.org/wip/packages/debian/pub ${UBUNTU} robotpkg" > /etc/apt/sources.list.d/robotpkg.list \
&& echo "deb [arch=amd64] http://robotpkg.openrobots.org/packages/debian/pub ${UBUNTU} robotpkg" >> /etc/apt/sources.list.d/robotpkg.list \
&& apt-key add /robotpkg.key
# environment helpers
ENV ROS_PREFIX=/opt/ros/${ROS_DISTRO} ROBOTPKG_BASE=/opt/openrobots
# required environment variables
ENV PYTHONPATH=${ROBOTPKG_BASE}/lib/python2.7/site-packages:${ROS_PREFIX}/lib/python2.7/dist-packages \
CMAKE_PREFIX_PATH=${ROBOTPKG_BASE}:${ROS_PREFIX} \
LD_LIBRARY_PATH=${ROBOTPKG_BASE}/lib/dynamic-graph-plugins \
QT_X11_NO_MITSHM=1
# talos-integration-tests dependencies
RUN apt-get update -qqy \
&& DEBIAN_FRONTEND=noninteractive apt-get install -qqy \
git \
python-catkin-tools \
python-rosdep \
robotpkg-py27-talos-dev \
&& rm -rf /var/lib/apt/lists
# catkin workspace
WORKDIR /ws
RUN rosdep init \
&& rosdep update \
&& ${ROS_PREFIX}/bin/catkin_init_workspace
# talos-integration-tests build
ADD . /ws/src/talos_integration_tests
RUN catkin build talos_integration_tests
......@@ -9,7 +9,7 @@ of the algorithm and the weights used to in the simulator.
In this specific context PID gains for position control are not the one provided by PAL-robotics.
They are much more high and provide a more rigid behavior that was found experimentally closer to reality for some part
of the robot. However, for now the flexibility in the hip found in real TALOS humanoid robots is not simulated.
# Setup
```
mkdir -p test_ws/src
......@@ -59,3 +59,22 @@ rostest talos_integration_tests test_online_walking.test
```
The robot is supposed to walk forward 2.8 m and reached position [2.12,0.012,1.00]
# Docker
```
xhost +local:
# 18.04 / melodic
docker build -t talos-integration-tests:18.04 .
docker run --rm --net=host --runtime=nvidia -e DISPLAY -it talos-integration-tests:18.04
# 16.04 / kinetic
docker build -t talos-integration-tests:16.04 --build-arg UBUNTU_VERSION=16.04 --build-arg UBUNTU=xenial --build-arg ROS_DISTRO=kinetic .
docker run --rm --net=host --runtime=nvidia -e DISPLAY -it talos-integration-tests:16.04
```
Once in the container:
```
source devel/setup.bash
rostest talos_integration_tests test_kine.test
rostest talos_integration_tests test_sot_talos_balance.test
```
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