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Add other orientation components to perception pipeline test cases and fix some typos #14

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merged 1 commit into from
Jul 22, 2024
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Add other orientation components to perception pipeline test cases and fix some typos #14

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68 changes: 67 additions & 1 deletion config/scenario_perception_pipeline_test_cases.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -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.
Expand All @@ -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
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