updated tests

ctu-mrs · Apr 21, 2024 · d3bf135 · d3bf135
1 parent 1c5d5ce
commit d3bf135
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Showing 11 changed files with 2,144 additions and 6 deletions.
diff --git a/test/mpc_tracker/mpc_avoidance_two_should_avoid/config/mrs_simulator.yaml b/test/mpc_tracker/mpc_avoidance_two_should_avoid/config/mrs_simulator.yaml
@@ -13,15 +13,15 @@ uav_names: [
 uav1:
   type: "x500"
   spawn:
-    x: 5.0
+    x: 0.0
     y: 0.0
     z: 5.0
     heading: 0.0
 
 uav2:
   type: "x500"
   spawn:
-    x: 0.0
+    x: 5.0
     y: 0.0
     z: 5.0
     heading: 0.0
diff --git a/test/mpc_tracker/mpc_avoidance_two_should_avoid/test.cpp b/test/mpc_tracker/mpc_avoidance_two_should_avoid/test.cpp
@@ -64,7 +64,7 @@ bool Tester::test() {
   }
 
   {
-    auto [success, message] = uh1->gotoRel(10, 0, 0, 0);
+    auto [success, message] = uh1->gotoRel(20, 0, 0, 0);
 
     if (!success) {
       ROS_ERROR("[%s]: goto failed with message: '%s'", ros::this_node::getName().c_str(), message.c_str());

diff --git a/test/mpc_tracker/mpc_avoidance_two_should_crash/test.cpp b/test/mpc_tracker/mpc_avoidance_two_should_crash/test.cpp
@@ -64,7 +64,7 @@ bool Tester::test() {
   }
 
   {
-    auto [success, message] = uh1->gotoRel(10, 0, 0, 0);
+    auto [success, message] = uh1->gotoRel(20, 0, 0, 0);
 
     if (success) {
       ROS_ERROR("[%s]: goto succeeded: '%s'", ros::this_node::getName().c_str(), message.c_str());

diff --git a/test/mpc_tracker/mpc_avoidance_two_uav1_passive/mpc_avoidance_two_uav1_passive.test b/test/mpc_tracker/mpc_avoidance_two_uav1_passive/mpc_avoidance_two_uav1_passive.test
@@ -44,6 +44,9 @@
     <arg name="UAV_NAME" default="uav2" />
   </include>
 
+  <!-- <node pkg="rviz" type="rviz" name="rviz1" args="-d $(dirname)/rviz1.rviz" /> -->
+  <!-- <node pkg="rviz" type="rviz" name="rviz2" args="-d $(dirname)/rviz2.rviz" /> -->
+
   <test pkg="$(arg package)" type="test_$(arg test_name)" test-name="$(arg test_name)" time-limit="60.0">
     <param name="test" value="$(arg test_name)" />
   </test>