feature/increase-wave-detection-to-20-second-periods-with-bno085

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.

jaiarobotics / jaiabot

feature/increase-wave-detection-to-20-second-periods-with-bno085 #843