This shows you the differences between two versions of the page.
Both sides previous revision Previous revision Next revision | Previous revision Last revision Both sides next revision | ||
cs:testing:start [2019/04/14 22:55] Andrew Rink |
cs:testing:start [2019/04/23 13:25] Andrew Rink |
||
---|---|---|---|
Line 31: | Line 31: | ||
</code> | </code> | ||
By default, rostest creates a new master for all publishers and subscribers. If you wish to view messages being passed between nodes, simply add ''%%--%%reuse-master'' to the above command. | By default, rostest creates a new master for all publishers and subscribers. If you wish to view messages being passed between nodes, simply add ''%%--%%reuse-master'' to the above command. | ||
+ | |||
+ | ===== Tested Components ===== | ||
+ | ==== Localization ==== | ||
+ | The localization system had an extensive testing suite implemented as part of the SLAM project. Localization is one of the fundamental systems relied upon by the SLAM system, so it's vital that this system performs up to expectations to ensure the maps generated are accurate and usable. | ||
+ | |||
+ | The general description of the localization system is that it takes data from the depth sensors and hydrophones to triangulate the position of the pinger in the water, then takes additional data from the IMU to help determine positioning changes in the water. An important aspect of the system is to maintain accuracy as the submarine's position changes, which is what several tests focus on. At the time of the tests' creation the physical submarine was inoperable, so many of the tests utilize the simulator to make changes to the submarine's position underwater. | ||
+ | |||
+ | |||
+ |