ipa320 / araig_benchmarks Goto Github PK

Note: This requires the branch: https://github.com/ipa320/araig_test_stack/tree/kut/benchmark

• Verify if the benchmarking signal sequence is correct. (Maybe some sleeps are not required? Should it emulate real test and not toggle signals low?)
• Verify and update the calculator to properly support benchmark (the reset method of calculate(), publish result only once)
• Maybe the calculator can work if start = false and stop = true? (Or similar logic to mock_sensor of waiting for signal levels)
• Verify and update the mock sensor to properly support benchmark (is the waiting sequence correct?)
• Verfiy if the final result calculation is correct.

Expected problems:

• This line could cause inaccuracies. This is because the calculator and sensor both have 0.5 seconds (@100hz = 50 loop cycles) to recalculate their values and converge to a stable value. But this is not the case in real test, since the very first result is used. To rectify this, we should take the FIRST result (ie msg from topic), and not the FINAL result.

To test:
roslaunch araig_benchmarks bench_braking_test.launch