Segbot Regression Testing

These are tests that should work when updating to the basic BWI and Segbot software.

1. Launch Basic Segbot Nodes

First try things in simulation:

roslaunch bwi_launch simulation.launch

On a real version 2 Segbot, power on the base, then run:

roslaunch bwi_launch segbot_v2.launch

Or, if it's a version 3 robot:

roslaunch bwi_launch segbot_v3.launch

The version 4 robot works similarly.

2. Set the Correct Map Level and Localize

On the multi-level map level selector menu:

• click on the correct floor.

On the 'rviz' screen:

• set the 2D pose estimate
• give the robot a nearby 2D destination to help it localize

3. Run a Simple Task

rosrun bwi_tasks visit_door_list

4. Test Elevator Navigation

Interrupt (^C) the visit_door_list node from the previous test.

In its place, run:

rosrun bwi_tasks go_to_location_node _location:=l2_200

Follow the robot to the elevator, with the interactive request window visible. Press the "down" elevator button. Notify the robot when the elevator has arrived and the door is opening. (If the wrong elevator comes, send it to the 7th floor, and try again.)

Follow the instructions about holding the door. Select level 2. The robot should exit and stop outside the ground floor elevator.

To come back up, run a similar task:

rosrun bwi_tasks go_to_location_node _location:=l3_414b

Or, use this:

rosrun bwi_tasks go_to_door_node _door:=d3_414b1