Among other things, fix syntax for Python 3 compatibility

Gives proper boolean values for compiling and installing in the right directory.

Guilhem Saurel authored 4 years ago and Olivier Stasse committed 4 years ago

This allows
docker run --rm --net=host --runtime=nvidia -e DISPLAY -it talos-integration-tests:18.04 rostest talos_integration_tests test_kine.test

Guilhem Saurel authored 4 years ago and Olivier Stasse committed 4 years ago

while here, check both fingerprints, and run everything in one layer

Guilhem Saurel authored 4 years ago and Olivier Stasse committed 4 years ago

ref #11

Hugo authored 4 years ago and Olivier Stasse committed 4 years ago

Added necessary sot-pattern-generator for online walking

Hugo authored 4 years ago and Olivier Stasse committed 4 years ago

Default build was missing the install directory, fixed some necessary steps

Olivier Stasse authored 4 years ago and olivier stasse committed 4 years ago

Indeed as the simulation may vary in speed, and as the robot is
suppose to move forward, test only if the robot did not fall down
and did not drift too much.

Olivier Stasse authored 4 years ago and olivier stasse committed 4 years ago

Additionnally fix wrong use of assert.
The tests are more robust.

run in docker

Guilhem Saurel authored 4 years ago and olivier stasse committed 4 years ago

rospkg was used to find a path to the current directory. This was
updated in the previous commit, so now rospkg is useless.

Guilhem Saurel authored 4 years ago and olivier stasse committed 4 years ago

I don't even understand this `/lib/`

It does not look very different from the previous but it generates the
CoM and foot-steps trajectories in real time.
The sot-talos-balance test reads precomputed trajectories.

The two commands rostest put in the README.md are working by launching
gazebo and each time a script validating the behavior.
The final position of the link valid if the behavior is correct or
not.

Right not cmake run_tests talos_integration_tests --no-deps
--no-jobserver is not working.

talos_integration_tests
Simplifies CMakeLists.txt

2 integrative tests:

1 - start_talos_gazebo_kine.py
Test SoT in kinematics to generate a whole body motion
(CoM, contact, waist, waist orientation and left hand)

2 - start_sot_talos_balance.py
Test walking and stabilization walking forward 3m.