test

husarion · Nov 30, 2023 · efff68a · efff68a
1 parent 383e3c5
commit efff68a
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Showing 3 changed files with 6 additions and 6 deletions.
diff --git a/rosbot_xl_gazebo/test/test_diff_drive_simulation.py b/rosbot_xl_gazebo/test/test_diff_drive_simulation.py
@@ -62,7 +62,7 @@ def test_diff_drive_simulation():
         # 0.9 m/s and 3.0 rad/s are controller's limits defined in
         #   rosbot_controller/config/diff_drive_controller.yaml
         node.set_destination_speed(0.9, 0.0, 0.0)
-        time.sleep(5)  # Wait 5 seconds for the velocity to stabilize
+        time.sleep(3)  # Wait 3 seconds for the velocity to stabilize
         assert (
             node.controller_odom_flag
         ), "ROSbot does not move properly in x direction. Check rosbot_xl_base_controller!"
@@ -71,7 +71,7 @@ def test_diff_drive_simulation():
         ), "ROSbot does not move properly in x direction. Check ekf_filter_node!"
 
         node.set_destination_speed(0.0, 0.0, 3.0)
-        time.sleep(5)  # Wait 5 seconds for the velocity to stabilize
+        time.sleep(3)  # Wait 3 seconds for the velocity to stabilize
         assert (
             node.controller_odom_flag
         ), "ROSbot does not rotate properly. Check rosbot_xl_base_controller!"

diff --git a/rosbot_xl_gazebo/test/test_mecanum_simulation.py b/rosbot_xl_gazebo/test/test_mecanum_simulation.py
@@ -62,7 +62,7 @@ def test_mecanum_simulation():
         # 0.9 m/s and 3.0 rad/s are controller's limits defined in
         #   rosbot_controller/config/mecanum_drive_controller.yaml
         node.set_destination_speed(0.9, 0.0, 0.0)
-        time.sleep(5)  # Wait 5 seconds for the velocity to stabilize
+        time.sleep(3)  # Wait 3 seconds for the velocity to stabilize
         assert (
             node.controller_odom_flag
         ), "ROSbot does not move properly in x direction. Check rosbot_xl_base_controller!"
@@ -71,7 +71,7 @@ def test_mecanum_simulation():
         ), "ROSbot does not move properly in x direction. Check ekf_filter_node!"
 
         node.set_destination_speed(0.0, 0.9, 0.0)
-        time.sleep(5)  # Wait 5 seconds for the velocity to stabilize
+        time.sleep(3)  # Wait 3 seconds for the velocity to stabilize
         assert (
             node.controller_odom_flag
         ), "ROSbot does not move properly in y direction. Check rosbot_xl_base_controller!"
@@ -80,7 +80,7 @@ def test_mecanum_simulation():
         ), "ROSbot does not move properly in y direction. Check ekf_filter_node!"
 
         node.set_destination_speed(0.0, 0.0, 3.0)
-        time.sleep(5)  # Wait 5 seconds for the velocity to stabilize
+        time.sleep(3)  # Wait 3 seconds for the velocity to stabilize
         assert (
             node.controller_odom_flag
         ), "ROSbot does not rotate properly. Check rosbot_xl_base_controller!"

diff --git a/rosbot_xl_gazebo/test/test_utils.py b/rosbot_xl_gazebo/test/test_utils.py
@@ -34,7 +34,7 @@ class SimulationTestNode(Node):
     __test__ = False
     # The inaccuracies in measurement uncertainties and wheel slippage
     # cause the rosbot_xl_base_controller to determine inaccurate odometry.
-    ACCURACY = 0.10  # 10% accuracy
+    ACCURACY = 0.15  # 15% accuracy
 
     def __init__(self, name="test_node"):
         super().__init__(name)