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Guilhem Saurel authored Jun 19, 2020 and Olivier Stasse committed Jun 19, 2020

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 Jun 18, 2020 and Olivier Stasse committed Jun 19, 2020

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

Guilhem Saurel authored Jun 18, 2020 and Olivier Stasse committed Jun 19, 2020

ref #11

Hugo authored Jun 17, 2020 and Olivier Stasse committed Jun 19, 2020

Added necessary sot-pattern-generator for online walking

Hugo authored Jun 17, 2020 and Olivier Stasse committed Jun 17, 2020

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

Olivier Stasse authored May 25, 2020 and olivier stasse committed May 25, 2020

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 May 21, 2020 and olivier stasse committed May 25, 2020

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

run in docker

Guilhem Saurel authored May 11, 2020 and olivier stasse committed May 11, 2020

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 May 11, 2020 and olivier stasse committed May 11, 2020

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.

Change timeout
Add dependency in package.xml to get catkin_make run_tests
(not yet working)

Because the robot is oscillating the measure of the robot position
precision is less than 0.08 m.