Here are some notes I took for how I tested this big IMU merge:
(I have not done the physical bot testing section)
Testing procedure for big IMU / wave code merge
===============================================
build.sh works
build the venv and activate it
jaiabot_imu.py parameters
simulator wave height -wh
simulator wave period -wp
OPTIONAL port -p
device type -t
debug flag -d
Test command-line jaiabot_imu.py SWH calculations / debug html
Simulate waves and get SWH (choice h on main menu)
./jaiabot_imu.py -t sim -i -wh 1 -wp 10 -d
240 seconds, 4 Hz
./jaiabot_imu.py -t sim -i -wh 1 -wp 20 -d
240 seconds, 4 Hz
Make sure the generated html file looks sound
In /var/log/jaiabot/swh_*.html
Make sure quaternion, angular_velocity, and device_type come through
[Enter] at the main menu
Test simulated waves
Use the config/launch/imu-simulation/all.launch
Do simulated drifts and dives in JCC
Get correct wave heights out
Make sure quaternion, angular_velocity, and device_type show up in liaison:
url: http://localhost:30002 (for bot 1)
Validate the post-hoc analysis script on some h5 wave scripts (calm, moderate, high waves, long-period waves)
From a venv with pyjaia package installed:
jaia-analyze-waves.py [--glitchy] [h5 filename]
--glitchy can be used for logs that used the old BNO055 IMU
Testing procedure on physical bot
=================================
Test command-line jaiabot_imu.py SWH calculations / debug html
Get SWH for 120-second run at 4 Hz sample rate on tabletop
Make sure the generated html file looks sound
Make sure quaternion, angular_velocity, and device_type show up in TAKE_READING
Test SWH measurement on a surface drift, and make sure it's reasonable.
Here are some notes I took for how I tested this big IMU merge:
(I have not done the physical bot testing section)