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start-jsk / rtmros_gazebo

gazebo simulation for rtmros robots
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[hrpsys_gazebo_general] revert default value of robot_hrpsys_bringup.launch and add test #254

Closed Naoki-Hiraoka closed 4 years ago

Naoki-Hiraoka commented 4 years ago

https://github.com/start-jsk/rtmros_gazebo/pull/250 accidentally changed the default value of robot_hrpsys_bringup.launch. This PR revert the default value.

pazeshun commented 4 years ago

~~Perhaps you have to re-check if https://github.com/start-jsk/rtmros_tutorials/pull/568 works fix it, because HRPSYS_RATE is not specified in hrpsys_gazebo_tutorials: https://github.com/start-jsk/rtmros_tutorials/blob/7dc73f471347af969570b5a675fcafe092434469/hrpsys_gazebo_tutorials/launch/hrp2jsk_hrpsys_bringup.launch#L18-L24 Also, its iob_rate sometimes seems 250: https://github.com/start-jsk/rtmros_tutorials/blob/7dc73f471347af969570b5a675fcafe092434469/hrpsys_gazebo_tutorials/config/HRP2JSK.yaml#L5~~ Sorry, this seems already fixed in https://github.com/start-jsk/rtmros_tutorials/pull/568.

pazeshun commented 4 years ago

@k-okada Could you review this?

pazeshun commented 4 years ago

@k-okada Kindly ping

k-okada commented 4 years ago

if we can catch this situation, just by "rostopic echo hz", please consider adding test. Or because if hrpsys, it is hard to write good test for this?

Naoki-Hiraoka commented 4 years ago

I added tests for kinetic and melodic.

These tests check

pazeshun commented 4 years ago

@Naoki-Hiraoka Very nice!!!! Why did indigo test fail? Due to https://github.com/start-jsk/rtmros_gazebo/pull/253#issuecomment-627232994?

But original indigo environment itself may be incorrect, because it uses hrpsys_ros_bridge/models/SampleRobot.RobotHardware.conf which is written as exec_cxt.periodic.rate: 500.

pazeshun commented 4 years ago

My previous comment was just out of curiosity. Anyway, testing kinetic and melodic seems enough.

Naoki-Hiraoka commented 4 years ago

Why did indigo test fail? Due to #253 (comment)?

I'm sorry but I don't know. On indigo, Walk test failed here https://github.com/Naoki-Hiraoka/rtmros_gazebo/blob/f32da243cb8aade0126e01b48d359424412bd09c/hrpsys_gazebo_general/test/test-samplerobot.py#L166

pazeshun commented 4 years ago

OK, thanks for reply. @k-okada Could you review this?