SMR test
From Rsewiki
SMR test procedures
Currently two tests are implemented for the SMR's.
- A simple test checking that IR-sensors, linesensor and motorcontrollers are running and communicating with RHD and MRC.
- An advanced test that also includes guidemark's, and laser-based localisation.
Both tests are run by logging into the system as "test" and using the scripts found in the smr folder (/vhome/test/smr).
Simple Test
Place the SMR you want to test on teststand. Run the command from the smr folder.
test@localhost:~/test$ ./test smrX
Where smrX is the name of the SMR you are testing (fx. smr1).
Advanced Test
The advanced test uses a predefined course in the SMR-pit in the corner of room 027. The course is sketched below. It is necessary to put light-colored wooden planks along the base of the cabinet as the laser-scanner can't see the dark footing.
Place the SMR on the start spot. Run the following command.
test@localhost:~/test$ ./mobotwaretest smrX
The robot should say the guidemark numbers and should end up close to the starting point.
