Merge pull request #14 from CihatAltiparmak/fix/orientation_of_percep…

…tion_pipeline_test_cases Add other orientation components to perception pipeline test cases and fix some typos
moveit · Jul 22, 2024 · 778e15b · 778e15b
2 parents 48c40a6 + 36fa539
commit 778e15b
Showing 1 changed file with 67 additions and 1 deletion.
diff --git a/config/scenario_perception_pipeline_test_cases.yaml b/config/scenario_perception_pipeline_test_cases.yaml
@@ -11,17 +11,23 @@ test_cases:
           y: 0.5
           z: 0.5
         orientation:
+          x: 0.0
+          y: 0.0
+          z: 0.0
           w : 1.0
     - pose:
         position:
           x: 0.5
           y: -0.5
           z: 0.7
         orientation:
+          x: 0.0
+          y: 0.0
+          z: 0.0
           w: 1.0
   # the second test case in type of nav_msgs/msg/Path
   # This test case can be selected in scenario_perception_pipeline_benchmark_main node
-  # by passing selected_test_case_index argument as 0
+  # by passing selected_test_case_index argument as 1
   # When you select this test case, robot firstly tries to go the first pose.
   # After going to first pose, robot tries to go second pose. Then robot tries
   # to go the first pose again. Robot tries to go between two poses 10 times.
@@ -35,137 +41,197 @@ test_cases:
           y: 0.5
           z: 0.5
         orientation:
+          x: 0.0
+          y: 0.0
+          z: 0.0
           w : 1.0
     - pose:
         position:
           x: 0.5
           y: -0.5
           z: 0.7
         orientation:
+          x: 0.0
+          y: 0.0
+          z: 0.0
           w: 1.0
     - pose:
         position:
           x: 0.5
           y: 0.5
           z: 0.5
         orientation:
+          x: 0.0
+          y: 0.0
+          z: 0.0
           w : 1.0
     - pose:
         position:
           x: 0.5
           y: -0.5
           z: 0.7
         orientation:
+          x: 0.0
+          y: 0.0
+          z: 0.0
           w: 1.0
     - pose:
         position:
           x: 0.5
           y: 0.5
           z: 0.5
         orientation:
+          x: 0.0
+          y: 0.0
+          z: 0.0
           w : 1.0
     - pose:
         position:
           x: 0.5
           y: -0.5
           z: 0.7
         orientation:
+          x: 0.0
+          y: 0.0
+          z: 0.0
           w: 1.0
     - pose:
         position:
           x: 0.5
           y: 0.5
           z: 0.5
         orientation:
+          x: 0.0
+          y: 0.0
+          z: 0.0
           w : 1.0
     - pose:
         position:
           x: 0.5
           y: -0.5
           z: 0.7
         orientation:
+          x: 0.0
+          y: 0.0
+          z: 0.0
           w: 1.0
     - pose:
         position:
           x: 0.5
           y: 0.5
           z: 0.5
         orientation:
+          x: 0.0
+          y: 0.0
+          z: 0.0
           w : 1.0
     - pose:
         position:
           x: 0.5
           y: -0.5
           z: 0.7
         orientation:
+          x: 0.0
+          y: 0.0
+          z: 0.0
           w: 1.0
     - pose:
         position:
           x: 0.5
           y: 0.5
           z: 0.5
         orientation:
+          x: 0.0
+          y: 0.0
+          z: 0.0
           w : 1.0
     - pose:
         position:
           x: 0.5
           y: -0.5
           z: 0.7
         orientation:
+          x: 0.0
+          y: 0.0
+          z: 0.0
           w: 1.0
     - pose:
         position:
           x: 0.5
           y: 0.5
           z: 0.5
         orientation:
+          x: 0.0
+          y: 0.0
+          z: 0.0
           w : 1.0
     - pose:
         position:
           x: 0.5
           y: -0.5
           z: 0.7
         orientation:
+          x: 0.0
+          y: 0.0
+          z: 0.0
           w: 1.0
     - pose:
         position:
           x: 0.5
           y: 0.5
           z: 0.5
         orientation:
+          x: 0.0
+          y: 0.0
+          z: 0.0
           w : 1.0
     - pose:
         position:
           x: 0.5
           y: -0.5
           z: 0.7
         orientation:
+          x: 0.0
+          y: 0.0
+          z: 0.0
           w: 1.0
     - pose:
         position:
           x: 0.5
           y: 0.5
           z: 0.5
         orientation:
+          x: 0.0
+          y: 0.0
+          z: 0.0
           w : 1.0
     - pose:
         position:
           x: 0.5
           y: -0.5
           z: 0.7
         orientation:
+          x: 0.0
+          y: 0.0
+          z: 0.0
           w: 1.0
     - pose:
         position:
           x: 0.5
           y: 0.5
           z: 0.5
         orientation:
+          x: 0.0
+          y: 0.0
+          z: 0.0
           w : 1.0
     - pose:
         position:
           x: 0.5
           y: -0.5
           z: 0.7
         orientation:
+          x: 0.0
+          y: 0.0
+          z: 0.0
           w: 1.0